软体按摩机器人驱动器的设计与仿真

杨晓京, 刘用

杨晓京, 刘用. 软体按摩机器人驱动器的设计与仿真[J]. 信息与控制, 2021, 50(4): 490-497. DOI: 10.13976/j.cnki.xk.2021.0417
引用本文: 杨晓京, 刘用. 软体按摩机器人驱动器的设计与仿真[J]. 信息与控制, 2021, 50(4): 490-497. DOI: 10.13976/j.cnki.xk.2021.0417
YANG Xiaojing, LIU Yong. Design and Simulation on the Actuator of Soft Massage Robot[J]. INFORMATION AND CONTROL, 2021, 50(4): 490-497. DOI: 10.13976/j.cnki.xk.2021.0417
Citation: YANG Xiaojing, LIU Yong. Design and Simulation on the Actuator of Soft Massage Robot[J]. INFORMATION AND CONTROL, 2021, 50(4): 490-497. DOI: 10.13976/j.cnki.xk.2021.0417
杨晓京, 刘用. 软体按摩机器人驱动器的设计与仿真[J]. 信息与控制, 2021, 50(4): 490-497. CSTR: 32166.14.xk.2021.0417
引用本文: 杨晓京, 刘用. 软体按摩机器人驱动器的设计与仿真[J]. 信息与控制, 2021, 50(4): 490-497. CSTR: 32166.14.xk.2021.0417
YANG Xiaojing, LIU Yong. Design and Simulation on the Actuator of Soft Massage Robot[J]. INFORMATION AND CONTROL, 2021, 50(4): 490-497. CSTR: 32166.14.xk.2021.0417
Citation: YANG Xiaojing, LIU Yong. Design and Simulation on the Actuator of Soft Massage Robot[J]. INFORMATION AND CONTROL, 2021, 50(4): 490-497. CSTR: 32166.14.xk.2021.0417

软体按摩机器人驱动器的设计与仿真

详细信息
    作者简介:

    杨晓京(1972-), 男, 博士后, 教授, 博士生导师.研究领域为数字化设计与制造

    刘用(1996-), 男, 硕士生.研究领域为软体机器人的控制与建模

    通讯作者:

    刘用, 670406199@qq.com

  • 中图分类号: TP242

Design and Simulation on the Actuator of Soft Massage Robot

  • 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.

  • 图  1   软体按摩机器人

    Figure  1.   Soft massage robot

    图  2   驱动器结构

    Figure  2.   Actuator structure

    图  3   纤维线缠绕变形分析

    Figure  3.   Analysis of the fiber line winding deformation

    图  4   纤维线中径变化曲线

    Figure  4.   Fiber line diameter change curve

    图  5   驱动器受力分析

    Figure  5.   Actuator force analysis

    图  6   驱动器截面

    Figure  6.   Actuator cross-section

    图  7   加压流体模型

    Figure  7.   Pressurized fluid model

    图  8   驱动器截面等效示意图

    Figure  8.   Equivalent schematic diagram of the actuator cross-section

    图  9   硅胶有效截面积示意图

    Figure  9.   Schematic diagram of the effective cross-section of silica gel

    图  10   不同Pin下的输出力

    Figure  10.   Output force under different Pin

    图  11   不同D下的输出力

    Figure  11.   Output force under different D

    图  12   不同D1下的输出力

    Figure  12.   Output force under different D1

    图  13   不同D2下的输出力

    Figure  13.   Output force under different D2

    图  14   不同h1下的输出力

    Figure  14.   Output force under different h1

    图  15   不同L下的输出力

    Figure  15.   Output force under different L

    图  16   气动控制平台

    Figure  16.   Pneumatic control platform

    图  17   驱动器输出力实验

    Figure  17.   Actuator output force experiment

    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
    下载: 导出CSV
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出版历程
  • 收稿日期:  2020-09-06
  • 录用日期:  2020-12-27
  • 发布日期:  2021-08-19
  • 刊出日期:  2021-08-19

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