基于数字孪生的按摩机械臂系统设计与实现

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中图分类号：TP311 文献标识码：A文章编号：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

中医理疗按摩在治疗颈椎病、肩周炎、腰椎间盘突出等疾病方面效果显著，通过恢复肌肉功能、缓解疼痛肿胀、促进康复，可同时改善生理和心理状态。（剩余4569字）