基于人体工程学原理构建了四连杆电动按摩椅在做摆动运动时的动力学模型。运用了工业机器人的运动学和动力学仿真技术，将D-H参数法应用于电动按摩椅的运动学模型建立，探究了平面运动机构的D-H矩阵表示法，并用Matlab实现了对机构运动位姿的快速模拟；针对该休闲功能按摩椅的电动机选型问题，结合男、女两种不同的人体质量分布模型，对电动按摩椅的工作状态进行了动力学建模；通过Solidworks的动力学仿真分析，对结果进行了验证。结果显示建立的动力学模型能够很好地预测电动机力矩的变化趋势，且对男女模型趋势相同，为今后人机产品中结合质量模型的动力学研究提供了理论依据和实践基础。

The mechanical model of a four-link electric chair is studied and corresponding simulation experiment on it is conducted through research methods of the robot kinematics and dynamics. After studying the D-H matrix form of the planar motion mechanism, the kinematics model of the chair is established by D-H parameters method, and Matlab is used to achieve a rapid simulation of the chair’s kinematic pose. The motor-selection problem of the chair is solved. Through the study of ergonomics with body-mass-distribution model, the electric chair’s dynamics model is established and the calculation method of motor selection problem is achieved. Finally compared the calculation results with simulation results in Solidworks motion, it seems that mechanical model established can well predict motor torque changes in the chair design.