The invention relates to a novel automatic
massage device for joints of arms and a chest. The novel automatic
massage device comprises a series-parallel mechanism, a
massage outer cover, transmission rolling balls, a
retainer ring and an air supply device, wherein the massage outer cover is positioned above the series-parallel mechanism; vibration massage heads and air holes are uniformly formed in the outer surface of the massage outer cover; the
retainer ring is positioned at the outer side of the massage outer cover; the transmission rolling balls are uniformly mounted between the
retainer ring and the massage outer cover; and the air supply device is positioned on the inner part of the massage outer cover. The novel automatic massage device adopts a series-parallel structural form, is strong in
carrying capacity and is high in micro-motion precision; a four-freedom parallel mechanism adopts a parallel mechanism of a 4-UPS form, so that motion, in four freedom directions, of one translation and three rotations can be realized, the motion effect is good, the motion freedoms are multiple, the structure is compact and the
carrying capacity is strong; and in the novel automatic massage device, the series-parallel mechanism can drive the whole massage outer cover to carry out motion, in five freedom directions, of two translations and three rotations, in a space, so that the massage flexibility is high, and the massage effect is good.