CN111914437B - ADAMS-based dynamic simulation method for Yizhichan massage - Google Patents
ADAMS-based dynamic simulation method for Yizhichan massage Download PDFInfo
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Abstract
The invention relates to an ADAMS-based dynamic simulation method for Yizhichan massage, which comprises the following steps of: 1. establishing a simulation model of the meditation massage in three-dimensional design software, wherein the simulation model comprises a meditation massage mechanism model and a simulated muscle soft tissue model, and then introducing the model into dynamic simulation software ADAMS; 2. setting environment variables in the ADAMS, defining material attributes of the simulation model, and then creating contact and constraint for the material attributes; 3. adding a driving function to the human finger simulation rod to simulate the reciprocating swing of the fingers in the massage process of the Yizhichan; 4. adding required springs into the Yizhichan massage mechanism model, adding transverse and longitudinal springs for simulating that muscles are subjected to transverse and longitudinal elastic forces into the simulated muscle soft tissue model to simulate the contact of fingertips and the muscles, and respectively setting related parameters; 5. and carrying out simulation calculation and result analysis according to different working condition requirements. The method is favorable for improving the accuracy of the simulation of the massage dynamics of the Yizhichan.
Description
Technical Field
The invention belongs to the technical field of medical health-care massage instruments, and particularly relates to an ADAMS-based dynamic simulation method for Yizhichan massage.
Background
Traditional Chinese massage has a long history and a long source in China. Massage is performed on specific parts of the body surface by specific manipulations, and can improve physiological and pathological conditions of the body, and achieve the effects of promoting blood circulation, dredging collaterals, preventing diseases and strengthening the body. However, the massage techniques are widely varied, and the clinical application thereof is still performed manually by an experienced massage technician, and the effect of the massage techniques varies depending on the skill level of the massage technician. As for the tuina technician, the process of performing tuina and massage is a physical work which is strenuous and labouring, and as the time for the tuina and massage is prolonged, the effects of the tuina and massage are also limited by the essence, qi and spirit conditions of the tuina technician.
With the development of modern science and technology, various massage instruments are invented continuously, and even a massage robot is appeared, so that a series of massage manipulations can be executed. For example, a massage robot proposed in patent CN2012100046015.2 can realize a plurality of massage techniques. This includes Yizhichan massage. However, for the multi-functional massage robot, the control of performing the massage manipulation of "Yizhichan" is relatively complicated, the cost is expensive, the equipment occupies a large area, and the carrying is inconvenient.
Manipulation of massage is a physical therapy that is characterized by the action of force, and the frequency, magnitude and direction of the manipulation are the main standard features of manipulation. According to the analysis of the mechanics characteristics of Yizhichan manipulations of different tuina experts, the Yizhichan manipulations generate periodical axial force and periodical lateral force. In addition, the execution strength of different experts is divided into light, medium and heavy. However, there is no small-sized massage head mechanism and device that can completely simulate the Yizhichan massage manipulation of Chinese medical massage technician and has simple structure, convenient operation, low cost and convenient carrying.
In the prior art, although other massage mechanisms with the function of 'Yizhichan' massage are proposed, the theoretical analysis and evaluation of the performance of the massage mechanisms are still lacked. ADAMS software is powerful virtual prototype dynamics analysis software and can analyze dynamics parameters such as interaction force and interaction frequency between mechanisms. Simulation of relevant mechanisms of massage robots by using ADAMS is not few, but most of the ADAMS only researches motion characteristics and dynamic characteristics of the mechanisms, and analysis considering mechanical characteristics and response of muscle tissues subjected to massage is lacked. In addition, when the massage effect evaluation is performed by combining the massage device and the muscle tissue, clinical experiments or animal experiments are often required to be combined, a large number of physical models and materials are required to be consumed, the experimental process is complicated, the cost is high, the period is long, and the development and the feasibility demonstration of the models are not facilitated.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide an ADAMS-based simulation method for dynamics of massage of meditophe, which is beneficial to researching the influence of the change of structural parameters, design parameters and installation parameters on the massage effect of the meditophe massage and improves the accuracy of the dynamics simulation of the meditophe massage.
In order to achieve the purpose, the invention adopts the technical scheme that: an ADAMS-based method for simulating dynamics of Yizhichan massage comprises the following steps:
s1, establishing a simulation model of the meditope massage in three-dimensional design software, wherein the simulation model comprises a meditope massage mechanism model and a simulated muscle soft tissue model, the meditope massage mechanism model is provided with a simulated human finger rod capable of reciprocating, and the simulated muscle soft tissue model comprises a first fixed block for fixing a transverse spring and a second fixed block for fixing a longitudinal spring; preprocessing the simulation model, and introducing the simulation model into mechanical system dynamics simulation software ADAMS;
s2, setting environment variables in ADAMS, defining material attributes of the simulation model, and then establishing contact and constraint for the simulation model;
s3, adding a driving function for the reciprocating motion of the finger stick of the imitated human finger to simulate the reciprocating swing of the finger in the massage process of the Yizhichan;
s4, adding needed springs into the massage mechanism model, adding a transverse spring and a longitudinal spring used for simulating the transverse and longitudinal elasticity of muscles into the simulated muscle soft tissue model, wherein one end of the transverse spring and one end of the longitudinal spring are respectively connected with the first fixing block and the second fixing block, the other end of the transverse spring and one end of the longitudinal spring are respectively connected with the lower end of the human finger simulation rod so as to simulate the contact of fingertips and the muscles, and setting parameters including pre-pressure, stiffness coefficients and damping for each spring respectively;
and S5, changing structural parameters, design parameters and installation parameters according to different working condition requirements, and carrying out simulation calculation and result analysis.
Further, in the step S1, the simulation model is saved as a general format of parasolid.
Furthermore, the massage mechanism model for the meditophor comprises a base, a support, a steering engine, a human-simulated finger rod, a track plate and a connecting rod, wherein the support is fixedly connected to the lower portion of the base, the steering engine is fixedly installed in the upper middle portion of the support, the track plate is installed at the lower end of the support, a gap exists between the track plate and the support, the left side and the right side of the track plate are in sliding fit with the support, the track plate can slide up and down relative to the support, an arc groove with an upper arch in the middle is formed in the track plate, a strip groove is formed in the upper end of the human-simulated finger rod along the length direction, a pin shaft is arranged in the strip groove, an output shaft of the steering engine is connected with the upper end of the connecting rod, the lower end of the connecting rod is connected with the pin shaft, a support rod A and a support rod B are respectively arranged on the left side and the right side of the middle portion of the human-simulated finger rod, and the outer ends of the support rods A and B extend into the arc groove; the human finger-imitating rod is sleeved with a gasket which abuts against the lower end of the connecting rod.
Further, in step S2, the contact created includes: a contact is established between the pin shaft and the human finger simulating rod; creating a contact between the connecting rod and the shim; creating a contact between the track plate and the support; two contacts are established between the support rod A and the support rod B and the track plate; the above contact modes are all set as collision contact, and the rigidity coefficient, the force index, the damping and the penetration depth are all set as system defaults.
Further, in step S2, the created constraint includes: a fixed pair is established between the first fixed block and the ground and between the second fixed block and the ground; a fixed pair is established between the base and the ground; a fixed pair is established between the steering engine and the bracket; a fixed pair is established between the bracket and the base; a revolute pair is established between the steering engine and the connecting rod; a fixed pair is established between the connecting rod and the pin shaft; a sliding pair is established between the gasket and the human finger simulating rod; a fixed pair is respectively established between the finger-like rod and the support rod A and the support rod B; a plane pair is created between the human-simulated finger rod and the connecting rod; a plane pair is created between the track plate and the bracket.
Further, in the step S4, two springs a and one spring B are added to the meditation massage mechanism model, the left and right ends of the upper side portion of the track plate are connected with the support through the springs a, the springs B are sleeved on the middle portion of the human-simulated finger rod, and the upper end and the lower end of the springs B are respectively abutted against the pad and the human-simulated finger rod.
Further, in step S4, the transverse spring and the longitudinal spring are linear springs, nonlinear springs, damping springs or springs made of viscoelastic materials.
Further, the structural parameters comprise the distance between the track plate and the support, the design parameters comprise the rigidity and the pre-pressure of the spring A and the spring B, and the installation parameters comprise the distance between the steering engine and the support.
Compared with the prior art, the invention has the following beneficial effects: an ADAMS-based dynamic simulation method for Yizhichan massage is provided, which establishes a model of the Yizhichan massage mechanism and a model of simulated muscle soft tissue, considers the mechanical characteristics and response of the muscle tissue subjected to massage and massage to perform dynamic simulation on the Yizhichan massage effect, and improves the accuracy of simulation, thereby reducing the development cost of the Yizhichan massage mechanism, shortening the development period, improving the quality of product design, and having strong practicability and high economy.
Drawings
FIG. 1 is a schematic structural diagram of a simulation model in an embodiment of the present invention.
Fig. 2 is a structural side view of a model of the massage mechanism for meditation in the embodiment of the present invention.
Fig. 3 is an exploded view of a model of the massage mechanism for meditation in an embodiment of the present invention.
Fig. 4 is a schematic structural view of a stent in an embodiment of the present invention.
FIG. 5 is a spring parameter setting interface in an embodiment of the present invention.
FIG. 6 is a graph of vertical linear spring force in an embodiment of the present invention.
FIG. 7 is a graph of vertical wire spring deflection in an embodiment of the present invention.
FIG. 8 is a graph of transverse wire spring force in an embodiment of the present invention.
Fig. 9 is a graph of the amount of deformation of a transverse wire spring in an embodiment of the present invention.
FIG. 10 is a graph of vertical nonlinear spring force in an embodiment of the present invention.
FIG. 11 is a graph of the amount of vertical nonlinear spring deflection in an embodiment of the present invention.
FIG. 12 is a graph of lateral nonlinear spring force in an embodiment of the present invention.
Fig. 13 is a graph of the amount of lateral nonlinear spring deformation in an embodiment of the present invention.
Fig. 14 is a graph showing the relationship between the axial force and the pre-pressure in the embodiment of the present invention.
Fig. 15 is a graph of lateral force versus gap between the track plate and the bracket in an embodiment of the present invention.
FIG. 16 is a graph of lateral force versus the spacing between the steering engine and the bracket in an embodiment of the present invention.
In the figure: 1-a base; 2-angle steel; 3-a steering engine; 4-a scaffold; 5-spring A; 6-a pin shaft; 7-a track slab; 8-support bar A; 9-finger-like lever; 10-support bar B; 11-spring B; 12-a gasket; 13-a connecting rod; 14-an end cap; 15-straight rocker arm; 16-a vertical chute; h1-transverse spring; h2-first anchor block; z1-longitudinal spring; z2-second fixed block.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
The invention provides an ADAMS-based dynamic simulation method for Yizhichan massage, which comprises the following steps of:
s1, establishing a simulation model of the meditope massage in three-dimensional design software SolidWorks, wherein the simulation model comprises a meditope massage mechanism model and a simulated muscle soft tissue model, the meditope massage mechanism model is provided with a human-finger-like rod capable of moving back and forth, and the simulated muscle soft tissue model comprises a first fixing block for fixing a transverse spring and a second fixing block for fixing a longitudinal spring. The first fixing block and the second fixing block are located at the lower end of the finger-like rod, namely right side and right lower side of the finger tip. The simulation model is saved as a common format of parasolid. Preprocessing the simulation model, and introducing the simulation model into mechanical system dynamics simulation software ADAMS;
specifically, under the SolidWorks software environment, a simulation model of the Yizhichan massage is subjected to three-dimensional modeling according to actual size through tools such as sketch drawing, feature stretching/cutting and the like, and the assembly of each part is completed by utilizing a 'matching' command; then, the model is preprocessed (including chamfering, pore thinning and other characteristics which have no influence on simulation), and finally, the three-dimensional assembly model is saved as a neutral format file which can be imported by ADAMS.
And newly building a simulation model under the ADAMS/View window, importing the x _ t format file of the simulation model, and generating the ADAMS multi-body dynamics virtual prototype simulation model of the Yizhichan massage simulation model.
The massage mechanism model for Buddhist one-finger comprises a base, a support, a steering engine, imitative people's finger pole, track board and connecting rod, support fixed connection is in the base lower part, steering engine fixed mounting is middle part on the support, the track board is installed at the support lower extreme, and there is the clearance between track board and the support, track board left and right sides and support sliding fit, track board can slide from top to bottom relatively the support, set up the circular arc groove that the middle part was encircleed on the track board, imitative people's finger pole upper end has seted up a groove along length direction, the strip inslot is provided with the round pin axle, the output shaft and the connecting rod upper end of steering engine are connected, the connecting rod lower extreme is connected with round pin hub connection, imitative people's finger pole middle part left and right sides is provided with bracing piece A respectively, bracing piece B, bracing piece A, bracing piece B outer end stretches into the circular arc inslot. The human-simulated finger rod is sleeved with a gasket, and the gasket abuts against the lower end of the connecting rod.
And S2, setting environment variables in the ADAMS, namely adjusting a working grid, setting units and setting gravity, and defining the material attributes of the simulation model. Contacts and constraints are then created for the simulation model.
Specifically, under ADAMS, the basic environment variables of the simulation are set, the direction of the working grid is set to the YZ direction, the units are set to the mode of MKS, and gravity is along the-Y direction. Then, material properties were set for each part: and clicking each part right, and clicking 'Modify' to set the material property of the part, wherein in the embodiment, the material of the model is set to be steel material.
Then, under ADAMS, contacts between the parts are set, the contacts created including: a contact is established between the pin shaft and the human finger simulating rod; creating a contact between the connecting rod and the shim; creating a contact between the track plate and the support; two contacts are created between support bar a, support bar B and the track plate. According to the characteristics of traditional Chinese medicine massage, the contact modes do not need to consider complex contact conditions and are all set to be collision contact, and the rigidity coefficient, the Force index Force exposure, the damping and the penetration depth are all set to be system defaults.
Then, adding a constraint pair for each part, wherein the created constraint comprises: a fixed pair is established between the first fixed block and the ground and between the second fixed block and the ground; a fixed pair is established between the base and the ground; a fixed pair is established between the steering engine and the bracket; a fixed pair is established between the bracket and the base; a revolute pair is established between the steering engine and the connecting rod; a fixed pair is established between the connecting rod and the pin shaft; a sliding pair is created between the gasket and the human finger simulating rod; a fixed pair is respectively established between the finger-like rod and the support rod A and the support rod B; a plane pair is created between the human-simulated finger rod and the connecting rod; a plane pair is created between the track plate and the bracket.
And S3, adding a driving function for the reciprocating motion of the finger stick of the imitated human finger to simulate the reciprocating swing of the finger in the massage process of the Yizhichan.
In this embodiment, a sin function is added to the created revolutionary pair as a driving function, and the driving function is set to 30d sin (720d time) according to the requirements of the mediterranean massage in the conventional massage.
S4, adding needed springs into the simulation model:
two springs A and a spring B are added in the Yizhichan massage mechanism model, the left end and the right end of the upper side portion of the track plate are connected with the support through the springs A, the middle of the humanoid finger rod is sleeved with the spring B, and the upper end and the lower end of the spring B are respectively abutted against the gasket and the humanoid finger rod.
And a transverse spring and a longitudinal spring which are used for simulating transverse and longitudinal elastic forces of the muscle soft tissue are added in the muscle soft tissue simulation model, one end of each of the transverse spring and the longitudinal spring is respectively connected with the first fixing block and the second fixing block, and the other end of each of the transverse spring and the longitudinal spring is connected with the lower end of the human finger simulation rod, namely the fingertip, so as to simulate the contact between the fingertip and the muscle. The transverse spring and the longitudinal spring are linear springs, nonlinear springs, damping springs or springs made of viscoelastic materials.
Then, parameters including pre-pressure, stiffness coefficient and resistance are set for each spring, respectively. In this example, the spring A stiffness coefficient was set to 405N/m and the pre-pressure was set to-4.05N. The stiffness coefficient of the spring B is set to be 139N/m, the pre-pressure is set to be 7N, and the damping coefficients are all 0.
Through the arrangement, the whole massage mechanism model for the meditopes is constructed, the structure of the massage mechanism model for the meditopes is shown in figures 1-4, the massage mechanism model for the meditopes comprises a base 1, a support 4, a steering gear 3, a finger-like rod 9, a track plate 7 and a connecting rod 13, the support is fixedly connected to the lower portion of the base, the steering gear is fixedly arranged in the middle of the support, the track plate is arranged at the lower end of the support, a gap exists between the track plate and the support, the track plate is in sliding fit with the support at the left side and the right side of the support, the track plate can slide up and down relative to the support, the track plate can also generate tiny displacement in the left and right direction relative to the support due to the existence of the gap between the track plate and the support, the left and the right ends of the upper side of the track plate are both connected with the support through springs A5, an arc groove arched in the middle is formed in the track plate, a strip groove is formed in the upper end of the finger-like rod in the length direction, and a pin shaft 6 is arranged in the strip groove, the output shaft and the connecting rod upper end of steering wheel are connected fixedly, and the connecting rod lower extreme is connected with the round pin axle, and imitative people's finger pole middle part has cup jointed spring B11, and the upper and lower end of spring B supports respectively and leans on connecting rod, imitative people's finger pole, and imitative people's finger pole middle part left and right sides is provided with bracing piece A8, bracing piece B10 respectively, and bracing piece A, bracing piece B outer end stretch into the circular arc inslot.
In this embodiment, the lower end of the connecting rod is provided with a notch for accommodating the upper end of the humanoid finger rod, pin holes for accommodating the end parts of the pin shafts are formed in two sides of the lower part of the notch, and the pin shafts are in interference fit with the pin holes. An outer flange is arranged in the middle of the human-simulated finger rod. The lower end of the spring B abuts against the outer flange, the pad 12 is sleeved on the finger-like rod, the upper end of the spring B abuts against the pad, and the pad abuts against the lower end of the connecting rod. The inner ends of the supporting rod A and the supporting rod B are connected with the outer flange. The outer ends of the support rod A and the support rod B are penetrated with arc grooves, and the outer ends of the support rod A and the support rod B are provided with end covers 14. Vertical chutes 16 for accommodating the side ends of the track plates are formed in the left side and the right side of the lower end of the support, two upper hanging rings for connecting the upper ends of the springs A are symmetrically arranged at the left side and the right side of the upper end of the support, and two lower hanging rings for connecting the lower ends of the springs A are symmetrically arranged at the left end and the right end of the upper side of the track plates. The steering engine is fixedly installed on the base 1, and the base and the support are locked through angle steel 2 and bolts. A straight rocker arm 15 is fixedly mounted on an output shaft of the steering engine, and the straight rocker arm and the upper end of the connecting rod are locked through bolts.
When in work, the finger tips at the lower end of the finger-imitating rods of the massage mechanism model of the single-finger Buddhist are contacted with the model of the simulated muscle soft tissue, the steering engine is started, the connecting rod is driven to pull the transverse spring and the longitudinal spring to swing left and right at fixed points when the steering engine rotates back and forth, under the combined action of the support rod A, the second support rod B and the arc groove, the track plate can have small vertical displacement and transverse displacement relative to the bracket, meanwhile, the spring A can generate upward pulling force, the spring B can generate downward pressure under the drive of the connecting rod, under the combined action of the pre-pressure, the tension of the spring A, the pressure of the spring B and the gravity, the fingertips of the human-simulated finger rods can generate regularly and periodically changed tension and pressure on the transverse spring and the longitudinal spring, and the magnitude and the frequency of the force can be adjusted through the spring stiffness, the pre-pressure, the rotating speed of the steering engine and the space between the track plate and the bracket.
And S5, carrying out simulation calculation and result analysis according to different working condition requirements.
And setting simulation step length and time, calling ADAMS/Solver to perform simulation calculation, and outputting stress and deformation curve graphs of the muscle soft tissue model.
Example 1
In this embodiment, a muscle soft tissue model is set as a wire spring model for simulation analysis, a digitized muscle detector MyotonPRO is selected, and twenty samples are measured respectively, and the obtained experimental data are shown in table 1. The rigidity coefficient of the biceps brachii muscle is approximately 230N/m through data analysis, so that the rigidity coefficient of the linear spring selected by the embodiment is 230N/m. According to the previous research, the average vertical maximum acting force of the Yizhichan massage is (11.75 +/-0.88) N, the prestress of the wire spring in the vertical direction is set to be 11N, and the prestress of the wire spring in the transverse direction is 0. The acting force and deformation of the soft tissue wire spring of the muscle meat can be obtained through simulation analysis and are shown in figures 6-9.
As can be seen from the simulation result, the vertical maximum acting force of the muscle soft tissues is not more than 11.25N, and the horizontal maximum acting force is not more than 0.75N, which are both smaller than the maximum acting force required by the massage manipulation of the Yizhichan, thereby meeting the safety requirement; the maximum vertical deformation amount is not more than 4mm, the maximum transverse deformation amount is not more than 3.5mm, and the variation range of muscle and meat soft tissues in the massage process is met.
Example 2
In this embodiment, a muscle soft tissue model is set as a nonlinear spring model for simulation analysis, and the method for measuring the stiffness coefficient of a nonlinear spring comprises: force versus displacement data were obtained by pulling and pressing the test instrument as shown in table 2. And then, storing the force-displacement data measured by the experiment in a format of a txt text document, importing the force-displacement data through an Import function in an ADAMS, selecting a File type in an RPC3 File ("-") format, creating an SPLINE _1 data unit, selecting a column of a SPLINE function when setting the stiffness coefficient of the nonlinear spring, and finally selecting a corresponding data unit, wherein the figure 5 shows that the File type is selected from the SPLINE _1 data unit. The pre-pressure of the nonlinear spring in the vertical direction was also set to 11N as in embodiment 1. The transverse wire spring pre-pressure is 0. The acting force and deformation of the soft tissue wire spring of the flesh meat can be obtained through simulation analysis and are shown in figures 10-13.
According to simulation results, the maximum vertical acting force of the muscle soft tissues is not more than 11.25N, the maximum transverse acting force is not more than 1.6N, and the maximum vertical acting force and the maximum transverse acting force are smaller than the maximum acting force required by the massage manipulation of the Yizhichan, so that the safety requirement is met; the maximum vertical deformation amount is not more than 3mm, and the maximum transverse deformation amount is not more than 3mm, so that the massage device conforms to the variation range of muscle soft tissue in the massage process.
It can be seen that the simulation results are slightly different compared with the linear elastic model, because the biomechanical characteristics of the muscle soft tissue models selected in the experiment are different. The dynamic simulation is to study whether the acting force of the massage head mechanism on the human body meets the safety requirement in the massage process, and the analysis results of the two models show that the massage mechanism can better realize the massage manipulation of the meditophorus and can ensure the safety of the massaged person, thereby laying a foundation for the standardized research of the meditophorus massage.
Example 3
Embodiments 1 and 2 study the influence of the Yizhichan massage head on the mechanical characteristics and response of muscle soft tissues in the massage process through a virtual prototype simulation technology. The influence of manufacturing errors or assembly errors on the performance of the massage device was investigated in example 3.
The variation range of the acting force of the massage head on the human body in the massage process can be obtained by performing dynamic simulation on the massage head, wherein the amplitude of the acting force has the greatest influence on the human body, and the influence factor of the amplitude of the acting force needs to be determined. Through the structural analysis of the massage head, the following results can be obtained:
(1) the influence factor of the amplitude of the axial acting force is preliminarily judged as the pre-pressure, the muscle soft tissue in the embodiment 2 is selected, the dynamic simulation analysis is carried out on the massage head, and the relationship between the axial acting force and the pre-pressure is obtained by changing the pre-pressure of the nonlinear spring as shown in fig. 14.
As can be seen from fig. 14, the vertical acting force of the massage head during massage is approximately equal to the pre-pressure, which shows that the axial acting force of the massage head is related to the applied pre-pressure. Since the pre-pressure applied by the massage head to the body can be controlled by the six-axis sensor at the end of the mechanical arm of UR10e, the magnitude of the axial force can be controlled manually.
(2) The influence factors of the transverse acting force amplitude are preliminarily judged to be two types: the gap between the track plate and the bracket is large, and the distance between the steering engine and the bracket is small.
The muscle soft tissue nonlinear elastic model in embodiment 2 is selected, dynamic simulation analysis is performed on the massage heads, the mounting position of the steering engine is correct, and the relationship between the amplitude of the transverse force and the gap between the track plate and the bracket is obtained by changing the distance between the track plate and the sliding plate, as shown in fig. 15.
As can be seen from fig. 15, when the distance between the track plate and the slide rail is 1mm, the lateral force is 1.6N, which is consistent with the previous dynamic simulation result; when the distance between the finger tips and the massage head is 0, the transverse force of the massage head is 0, because the finger tips only vertically displace and do not transversely displace, no transverse force is generated; when the distance is larger than 2mm, the transverse force is larger than 4N and exceeds the peak value of the transverse force required by the Yizhichan massage, therefore, the distance between the track plate of the massage head and the bracket is set within 2mm according to the actual requirement.
For analyzing the influence of the installation error of the steering engine on the transverse force, the muscle soft tissue nonlinear elastic model in the embodiment 2 is selected, the dynamic simulation analysis is performed on the massage head, the distance between the track plate and the sliding plate is 1mm, the distance between the steering engine and the sliding plate is changed, and the relation between the amplitude of the transverse force and the distance between the steering engine and the bracket obtained through simulation is shown in fig. 16.
As can be seen from fig. 16, the amplitude of the lateral force does not change with the change of the distance between the steering engine and the sliding plate, and the amplitude of the lateral force is always 1.7N, which indicates that the mounting error of the steering engine does not affect the lateral force, but the steering engine should be mounted in the center as much as possible in consideration of the appearance of the mechanism and other possible influencing factors.
The above-mentioned preferred embodiments, object, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned preferred embodiments are only illustrative of the present invention, and should not be construed as limiting the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An ADAMS-based method for simulating dynamics of massage on Yizhichan is characterized by comprising the following steps:
s1, establishing a simulation model of the meditope massage in three-dimensional design software, wherein the simulation model comprises a meditope massage mechanism model and a simulated muscle soft tissue model, the meditope massage mechanism model is provided with a simulated human finger rod capable of reciprocating, and the simulated muscle soft tissue model comprises a first fixed block for fixing a transverse spring and a second fixed block for fixing a longitudinal spring; preprocessing the simulation model, and introducing the simulation model into mechanical system dynamics simulation software ADAMS;
s2, setting environment variables in the ADAMS, defining material attributes of the simulation model, and then creating contact and constraint for the simulation model;
s3, adding a driving function for the reciprocating motion of the finger stick of the imitated human finger to simulate the reciprocating swing of the finger in the massage process of the Yizhichan;
s4, adding needed springs into the Yizhichan massage mechanism model, adding transverse springs and longitudinal springs for simulating that muscles are subjected to transverse and longitudinal elastic forces into the simulated muscle soft tissue model, wherein one ends of the transverse springs and the longitudinal springs are respectively connected with the first fixing block and the second fixing block, the other ends of the transverse springs and the longitudinal springs are respectively connected with the lower end of the human finger simulation rod so as to simulate the contact of fingertips and the muscles, and setting parameters including pre-pressure, stiffness coefficients and damping for the springs respectively;
s5, changing structural parameters, design parameters and installation parameters according to different working condition requirements, and carrying out simulation calculation and result analysis;
the massage mechanism model comprises a base, a support, a steering engine, a humanoid finger rod, a track plate and a connecting rod, wherein the support is fixedly connected to the lower portion of the base, the steering engine is fixedly installed in the middle of the upper portion of the support, the track plate is installed at the lower end of the support, a gap exists between the track plate and the support, the left side and the right side of the track plate are in sliding fit with the support, the track plate can slide up and down relative to the support, an arc groove with an upper arch middle portion is formed in the track plate, a strip groove is formed in the upper end of the humanoid finger rod along the length direction, a pin shaft is arranged in the strip groove, an output shaft of the steering engine is connected with the upper end of the connecting rod, the lower end of the connecting rod is connected with the pin shaft, a support rod A and a support rod B are respectively arranged on the left side and the right side of the middle of the humanoid finger rod, and the outer ends of the support rods A and B extend into the arc groove; a gasket is sleeved on the human-simulated finger rod and abuts against the lower end of the connecting rod;
in the step S4, two springs A and one spring B are added in the Yizhichan massage mechanism model, the left end and the right end of the upper side part of the track plate are connected with the bracket through the springs A, the spring B is sleeved in the middle of the human-simulated finger rod, and the upper end and the lower end of the spring B are respectively abutted against the gasket and the human-simulated finger rod.
2. An ADAMS-based kinetic simulation method of Yizhichan massage according to claim 1, wherein the simulation model is stored in Parasolid.x _ t' S general format in step S1.
3. An ADAMS-based kinetic simulation method for Yizhichan massage according to claim 1, wherein the contact created in step S2 includes: a contact is established between the pin shaft and the human finger simulating rod; creating a contact between the connecting rod and the shim; creating a contact between the track plate and the support; two contacts are established between the support rod A and the support rod B and the track plate; the above contact modes are all set as collision contact, and the rigidity coefficient, the force index, the damping and the penetration depth are all set as system defaults.
4. An ADAMS-based kinetic simulation method for Yizhichan massage according to claim 1, wherein the constraints created in step S2 include: a fixed pair is established between the first fixed block and the ground and between the second fixed block and the ground; a fixed pair is established between the base and the ground; a fixed pair is established between the steering engine and the bracket; a fixed pair is established between the bracket and the base; a revolute pair is established between the steering engine and the connecting rod; a fixed pair is established between the connecting rod and the pin shaft; a sliding pair is created between the gasket and the human finger simulating rod; a fixed pair is respectively established between the finger-like rod and the support rod A and the support rod B; a plane pair is created between the human-simulated finger rod and the connecting rod; a plane pair is created between the track plate and the bracket.
5. The ADAMS-based simulation method for dynamics of massage on one finger or zen according to claim 1, wherein in step S4, the transverse spring and the longitudinal spring are linear springs, non-linear springs, damping springs or springs made of viscoelastic materials.
6. The ADAMS-based kinetic simulation method for Yizhichan massage according to claim 1, wherein the structural parameters include the distance between a track plate and a bracket, the design parameters include the stiffness and pre-stress of springs A and B, and the installation parameters include the distance between a steering engine and the bracket.
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