Design of End Effector for Acupuncture Robot

At present, the training period of acupuncturists is long, the number is small, and the acupuncture treatment lacks objectivity and standard. In order to reduce the pressure on acupuncturists and improve the objectivity and standard of acupuncture treatment, the research on acupuncture and moxibustion robots is urgent. Aiming at the problem of simulating traditional Chinese acupuncture techniques in the process of acupuncture robot, according to the treatment requirements of scalp acupuncture, a kind of acupuncture end effector based on the six degrees of freedom robot arm was proposed. The actuator uses the six degrees of freedom of the mechanical arm to realize twirling action and simplify the actuator structure, and uses the stepping motor lead screw and stepping motor to realize needle insertion in acupuncture and clamping action, simulates the acupuncturist's treatment techniques, and designs the end effector control system based on PLC according to the treatment requirements of scalp acupuncture. Through simulation and experimental validation, the end effector developed in this research has demonstrated stable performance and accurate needle insertion for acupuncture applications. This achievement establishes a solid foundation for further advancements in the research and development of acupuncture and moxibustion robotics.