Massage device for hip massage robot based on redundant drive double parallel mechanisms
A dual-parallel, robot technology, applied in massage auxiliary products, roller massage, physical therapy and other directions, can solve the problems of large exercise space for massage execution, incomplete massage contact, and insignificant massage effect, and achieves small exercise space, Good massage effect and the effect of improving force operation performance
Inactive Publication Date: 2016-11-16
THE FIRST AFFILIATED HOSPITAL OF HENAN UNIV OF SCI & TECH
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The invention relates to a massage device for a hip massage robot based on redundant drive double parallel mechanisms. The massage device comprises a lower support plate, an upper support plate, left and right side plates, front and back side plates, six-degrees-of-freedom massage actuators and three-degrees-of-freedom massage actuators, wherein the lower support plate is formed in a manner that four rectangular plates are spliced to form an arc-shaped structure, the four rectangular plates are connected through hinges, the upper support plate is positioned just above the lower support plate, the left and right side plates are positioned between the lower support plate and the upper support plate, the front and back side plates are respectively positioned just in front of and just behind the left and right side plates, the six-degrees-of-freedom massage actuators are symmetrically mounted at the middle positions of the lower support plate, and the three-degrees-of-freedom massage actuators are respectively positioned on the left and right sides of the six-degrees-of-freedom massage actuators. The massage device can extend and draw back integrally, is good in flexibility and small in floor area, can massage the hip of the human body, can generate different massage forces according to the different massage parts of the hip, and is comprehensive in massage contact face and obvious in massage effect, so that the hip massage comfort level is improved.
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