基于數(shù)字孿生的按摩機(jī)械臂系統(tǒng)設(shè)計與實現(xiàn)

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中圖分類號：TP311 文獻(xiàn)標(biāo)識碼：A文章編號：2096-4706（2025）11-0179-04

Design and Implementation of Massage Robotic Arm System Based on Digital Twin

SONG Liying'，CHU Shuo2，KONG Xuean2， ZHANG Haoyu3 （1.SchoolofManagementScienceandEngineering，AnhuiUniversityofTechnology，Maanshan243o32，China; 2.AHUT Engineering Research Institute，Maanshan ， China; 3.SchoolofMechanicalEngineering，Anhui UniversityofTechnology，Maanshan243o32，China）

Abstract：Aimingattheproblemsofsignificant differences inskillevels，insuffcientadaptabilityofserviceindividuals andhigh labor costs inthe fieldof traditional massage，thisstudy proposes an inteligent solution based onDigitalTwin technology.Byusing theUnityplatform tobuildathree-dimensional virtual modelof themassageroboticarm，andcolecting the motion dataand feedback informationoftheroboticarminreal tme basedonserialcommunication，thedeepfusionand synchronous mappingofthephysicalentityand thevirtualmodelarerealized.Te systemintegratesfunctional modules suchas operationvisualization monitoring，motion trajectory planing，andacupoint massge.Experimental testsshow thatthesystem performswellinreal-tmemotioncontrol，accuracyofcupointpositionngandstabilityofoperation，andasfeasibilityand reliability.

Keywords： Digital Twin; robotic arm; massage; Unity3D; virtual-real mapping

0 引言

中醫(yī)理療按摩在治療頸椎病、肩周炎、腰椎間盤突出等疾病方面效果顯著，通過恢復(fù)肌肉功能、緩解疼痛腫脹、促進(jìn)康復(fù)，可同時改善生理和心理狀態(tài)。（剩余4569字）