Structural Design of the Robot Arm for Massage Based on the Chain Drive

Abstract

With the development of robot technology, massage robot has attracted fully attention, and the study about robot arm has been a growing interest in the area of massage robot. This article has put forward a new massage robot arm, which uses the chain as the main transfer mode by the requirements of the overall design massage of the robot arm. The design of big arm, shoulder joint, forearm, elbow joint and wrist are introduced. Based on the design requirements, we made some improvements with sprockets, ensuring transmission conditions and meeting the massage requirements. And finite element analysis for the designed arm, results show that the structure design can meet the requirements.

Design, path planning improvement and test of a portable massage robot on human back

“…3 However, these massage products are usually unsatisfactory for their functional insufficiency of intelligence and safety. 4 More and more researchers devote to develop high intelligent massage equipment or robot to prompt the product’s functionality in safety, path planning and massage effect. 5 –7…”

“…3 However, these massage products are usually unsatisfactory for their functional insufficiency of intelligence and safety. 4 More and more researchers devote to develop high intelligent massage equipment or robot to prompt the product's functionality in safety, path planning and massage effect. [5][6][7] A passivity-based impedance controller was used to develop a 4-degree of freedom (DOF) anthropomorphic robotic arm with integrated elastic joints to reproduce the manipulation of TCM remedial massage and meanwhile guarantee safety proposed by Huang et al 8 A path generator control system and virtual compliance calculator were developed for maxillofacial massage robots with 6-DOF by Ishii et al 9 Luo and Hsieh 10 implemented the tapping motion with a dual arm robot based on the impedance control, and the results show that it can effectively imitate the tapping motion of massage therapists.…”