Design and Kinematics Analysis of Hybrid Moxibustion Auxiliary Therapy Robot
Aiming at the problems of low automation,high cost,and low precision of existing moxibustion-assisted equipments,the author proposed a 3UPS-UP-2R hybrid moxibustion robot.This robot combined the advantages of high stability of the 3UPS-UP parallel structure and the good agility of the 2R series structure to achieve stable and flexible moxibustion operation.The motion characteristics of the moxibustion robot were determined through the analysis of the 3UPS-UP degrees of freedom using the screw theory.The analytical solutions for inverse kinematics of parallel module and series module were derived,and the reachable workspace of the moxibustion robot was solved by the slicing hierarchical search algorithm.The results demonstrate that the proposed hybrid moxibustion robot with 5 degrees of freedom possesses agile motion capability,a large reachable workspace,and can effectively meet the usage requirements of moxibustion-assisted therapy.
万方数据
维普
