Abstract: Constant temperature moxibustion massage to the human body back of the spine, is a very important and difficult research topic. Based on the medical human back spine model, combined with the constant temperature moxibustion principle, one moxibustion robot trajectory has been established through the analysis of the position of each joint of the robot and research on kinematics relevant problems. Simulation results show that the moxibustion robot can solve effectively the problem of traditional constant temperature moxibustion therapy used in vertebral body back.

Key words: moxibustion therapy, moxibustion robot, robot kinematics, MATLAB simulation, thermostat massage

摘要： 对人体背部脊椎进行艾灸恒温按摩，是一个非常重要而又困难的医学研究课题。根据人体背部脊椎模型，结合恒温艾灸原理，通过对机器人各关节的位姿分析及对相应的运动学问题研究，建立起艾灸机器人有效的运动轨迹。仿真实验表明，该艾灸机器人能够有效地解决传统人体背部脊椎艾灸疗法中的恒温问题。

关键词: 艾灸疗法, 艾灸机器人, 机器人运动学, MATLAB仿真, 恒温按摩