Design and Simulation on the Actuator of Soft Massage Robot
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摘要:
为了使软体按摩机器人满足所需要的输出力要求，基于象鼻类生物结构的启发提出了一种可满足按摩输出力的软体驱动器.软体驱动器输出力主要由驱动器长度、直径和材料属性等8个内部因素及纤维线材料属性、缠绕圈数和初始编制角等4个外部因素决定.根据Hagen-Poiseuille定律分析了压强、腔室直径和驱动器长度之间的关系.通过对驱动器内部纤维线缠绕方式的讨论确定了限制其径向变形的方法.利用驱动器变形后的几何方程和力矩平衡方程建立了驱动器输出力理论模型.基于理论模型和Abaqus仿真软件生成的仿真模型进行对比分析从而确定驱动器结构最优参数.实验结果表明在最优参数的基础上，气压低于6 kPa时，实验结果与理论模型有较好的一致性，验证了理论模型的正确性.
Abstract:A software actuator that can meet the output force of message is proposed on the basis of the biological structure of an elephant's nose to satisfy the output force equipment of a massage robot. The output force of the soft actuator is mainly determined by eight internal factors, such as the length, diameter, and material properties of the actuator, and four external factors, such as the fiber wire material, the number of winding loops of the fiber wire, and the initial braiding angle. According to Hagen-Poiseuille's law, the relationship among pressure, cavity diameter, and actuator length is analyzed. The method of limiting the radial deformation is determined by discussing the winding ways of the fiber wire inside the actuator. The theoretical model of the actuator's output force is established by using the geometric equation and the moment balance equation after the actuator deforms. The optimal parameters of the actuator structure are determined on the basis of the theoretical model and the simulation model generated by the Abaqus simulation software. When the pressure is lower than 6 kPa, the experimental results are in good agreement with the theoretical model under the optimal parameters. Therefore, the theoretical model is accurate.
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Keywords:
- soft actuator /
- output force /
- Abaqus simulation /
- moment balance equation
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图 9 硅胶有效截面积示意图
Figure 9. Schematic diagram of the effective cross-section of silica gel
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图 18 理论模型与仿真模型对比分析
Figure 18. Comparative analysis between the theoretical model and the simulation model
表 1 驱动器结构最优尺寸
Table 1 The optimal measurement of actuator structure
参数 数值 D/mm 60 D1/mm 20 h1/mm 15 D2/mm 20 L/mm 110 Θ/(°) 89.3 N/圈 50 
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