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
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[0021] In order to make it easy to understand the technical means, creative features, objectives and effects achieved by the present invention, the present invention will be further explained below in conjunction with specific drawings.
[0022] Such as figure 1 with figure 2 As shown, a massage device for a hip massage robot based on a redundant drive dual parallel mechanism includes a lower support plate 1, an upper support plate 2, left and right side plates 3, front and rear side plates 4, a six-degree-of-freedom massage actuator 5, and three-freedom The number of massage actuators 6, the left and right side plates 3 and the front and rear side plates 4 are both two, the numbers of the six-degree-of-freedom massage actuators 5 and the three-degree-of-freedom massage actuators 6 are both four; the lower support plate 1 is The four rectangular plates are spliced into an arc structure, and the four rectangular plates are connected by hinges. The lower support plate 1 can be ad...
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