仿中医按摩执行器按摩力分析及优化设计

doi:10.3901/JME.2025.15.247

摘要/Abstract

摘要： 重点关注按摩状态驱动、作用组件对末端按摩头按摩力的影响，进而对按摩执行器参数优化，设计了一种集成多按摩手法、安全有效的背部按摩执行器。基于中医按摩穴位和手法动作，在确立背部按摩执行器的设计指标基础上，首先，分析按摩手法的运动特征，构建了多手法执行模块集成协同动作的背部按摩执行器，采用高还原性真人触觉及接触力阈值安全保护设计，分析指揉法和指振法凸轮机构模块的驱动力，得到机构工作所需要最大工作力矩和按摩执行器推杆力。其次，基于人体皮肤摩擦理论，针对指揉法执行中出现的按摩执行器按摩头与人体皮肤产生相对滑移的现象，通过求解粘附摩擦力、变形摩擦力以及横向刚度等关键参数，优化执行机构的揉动半径；针对指振法执行中出现凸轮执行机构的凸轮与推杆之间出现相互分离现象，基于粒子群优化算法，对推杆质量、弹簧预压缩量等结构参数进行优化，以确保凸轮临界角速度高于最大工作角速度。最后，搭建按摩执行器的样机实物，通过实验平台对按摩装置的按摩力、人机按摩效果对比进行验证。实验结果表明，设计的按摩执行器在结构设计上更具紧凑性和简易性，在±1 N的力度误差波动范围，验证了按摩力度、按摩手法和频率过程均符合背部按摩执行器技术指标。

关键词: 中医按摩机器人, 接触力, 临界滑移量, 粒子群算法, 结构参数优化

Abstract: Focusing on massage state drive and the influence of the action component on the end massage head force, a safe and effective back massage actuator integrating multiple massage techniques is designed. Based on traditional Chinese massage points and manipulative techniques, and guided by established design indices for the back massage actuator, the movement characteristics of massage manipulations are analyzed, resulting in a synergistic back massage actuator combining multiple manipulation modules. The actuator employs a design that closely mimics human touch sensation and includes safety features for contact force threshold protection. For the cam mechanism module used in the finger-kneading and finger-vibrating techniques, analyses are conducted on driving force to determine optimal working torque and push rod parameters, ensuring optimal performance. Furthermore, based on human skin friction theory, adjustments are made to the kneading radius of the actuator to address relative slip between the massage head and human skin during the finger-kneading technique. By solving for adhesion friction, deformation friction, and transverse stiffness, key parameters are optimized. For the finger-vibrating technique, particle swarm optimization is applied to enhance structural parameters, such as push rod mass and spring pre-compression, thereby ensuring that the cam’s critical angular velocity remains higher than the maximum working angular velocity. A prototype of the massage actuator is constructed, and the actuator’s force and technique are evaluated experimentally by comparing human and machine massage effects. Results demonstrate that the massage actuator achieves a compact, streamlined structural design, with strength errors fluctuating within ±1 N. This consistency verifies that the massage force, technique, and frequency processes meet the technical specifications required for back massage applications, affirming the design’s efficacy and rationality.

Key words: Chinese medicine massage robot, contact force, critical slip, particle swarm algorithms, optimization of structural parameters

中图分类号:

TH112

曾达幸, 许林淼, 范朝辉, 刘亚, 侯雨雷, 卢文娟. 仿中医按摩执行器按摩力分析及优化设计[J]. 机械工程学报, 2025, 61(15): 247-260.

ZENG Daxing, XU Linmiao, FAN Zhaohui, LIU Ya, HOU Yulei, LU Wenjuan. Optimized Design of Massage Actuator Imitating Traditional Chinese Medicine and Analysis of Massage Force[J]. Journal of Mechanical Engineering, 2025, 61(15): 247-260.

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