Foot massage robot mechanism

本发明涉及足部穴位按摩设备，具体地说是一种足部按摩机器人机构。包括底板、二自由度按摩移动机构、按摩进给机构及按摩触头，其中二自由度按摩移动机构安装于底板上，所述按摩进给机构与二自由度按摩移动机构连接，所述按摩触头与按摩进给机构连接，按摩触头通过二自由度按摩移动机构和按摩移动机构分别在水平面和竖直面内移动，实现足部穴位的定位与按摩。本发明适应不同尺寸的足部，在完成足部定位后，准确建模，模拟中医按摩师的按摩手法，对足部穴位进行按摩

Research on a novel maintenance robot for power transmission lines

The slip vibration damper on power transmission lines (PTLs), which is caused by aeolian vibration, material aging and some outside interference, is a serious fault in power grid. The maintenance task, with high working intensity and risk, is generally completed on the high voltage live line by specially trained workers. This paper presents the development of a novel mobile robot aiming at retrieving slip vibration dampers in power grid. The mobile robot with an operation platform can adapt to uncertain postures of the vibration damper, though the posture varies in a random way within a certain range. After approaching the fault location, the robot first disassembles the connection clamps of the loose vibration damper with specialized tools, and then the vibration damper is transported to the original position and assembled by virtue of a lifter and a revolute sleeve barrel. With the consideration of practical application, safety and performance on maintenance, the robot prototype has been developed. The inverse kinematics with geometrical constraints has been deduced. Robot experiments on mock-up lines have been carried out and the results are shown in this paper. © 2016 IEEE

Mechanism design and analysis of a foot massage robot

Combining the traditional Chinese-medicine theory and the modern robot technology, a new type of massage robot that can accurately locate the acupuncture points and implement the acupuncture point-matching treaatment has been proposed. A serial-parallel mechanism is adopted as the main mechanism of the massage robot that has the merits of not only compact structure and dexterous movement, but also realization of the motion decoupling from the force control of the massage mechanism. Based on the introduction of the foot massage robot system and its function, both the analysis of the mechanism and the optimal design have been completed to meet the design requirements. The kinematics model has been established. The simulation and experimental research have been carried out and verified the rationality of the design and the feasibility of the scheme