Design And Experimental Research Of Flexible Drive Soft Massage Robot

In recent years,with the aggravation of population aging,the demand for massage robots in the field of health care and treatment has increased dramatically.Traditional massage robots are mostly rigid robots.Compared with rigid robots,soft robots are more suitable for massage because of their own softness and safety in human-computer interaction.However,the existing soft robots can not provide much output force for massage.In this paper,a flexible-driven soft massage robot with large output force is designed,and its theoretical analysis and experimental research are carried out.The main research work is as follows:Firstly,two kinds of massage methods,palm pressing and palm rubbing,are analyzed.Based on their mechanism,a flexible-driven soft massage robot is proposed,which can realize the two kinds of massage actions.The materials for making flexible components are selected and analyzed,and the Yeoh model parameters of materials are obtained.ABAQUS is used to analyze the influence of the shape and area of the cavity section of the flexible component airbag on the deformation of the airbag.The influence of the structural parameters of the flexible component on the deformation of the airbag is analyzed.It is verified that the designed massage robot can achieve elongation and all-direction bending and complete the massage action.Secondly,under the assumption that the flexible component is curved as an arc,the kinematics model of the massage robot is analyzed and established.The relationship between the length of the three groups of flexible components,the state parameters and the position of the platform is obtained,and the upper and lower envelopes of the motion range are drawn.Then,the force analysis of flexible components under vertical and bending deformation is carried out,and the relationship between pressure increment and output force of a group of flexible components under static state is obtained.The relationship between the pressure increment of three groups of flexible elements and the position parameters,the output force and bending moment of the massage robot in vertical and bending motion is analyzed,which lays a foundation for the control of the massage force in the massage process.Finally,the principle prototype of massage robot is developed,and the experimental system is designed and built.The elongation deformation experiment of a group of flexible elements and the bending motion deformation experiment of massage machine are carried out.It is verified that the massage robot designed can realize the massage action of palm pressing and palm rubbing.The experimental results are analyzed and the cavity pressure of the flexible element under the condition of no load is obtained.The relationship between motion and deformation is analyzed,and then the output force experiment of the massage robot is carried out to verify the output force characteristics of the designed massage robot.