The Research And Implementation Of Pneumatic Flexible Massage Manipulator

Chinese medicine massage robot is a service robot that uses Chinese massage theory combined with advanced robot control technology.It can intelligently imitate the technician's manual actions to massage specific parts of the human body,which has important research significance.The traditional massage robot has a single action,a large body,and a high rigidity.Although the position of the excessive rigidity is accurate,it will make consumers unable to trust the safety of the machine.With the development of soft robots,flexible materials are used in the medical field.This material has good flexibility,but it has a high degree of freedom and it is difficult to achieve accurate position control.Based on the parameters of five Chinese massage techniques,this article develops a pneumatic massage manipulator claw driven by a flexible drive,composed of rigid joints,wrapped with flexible materials,and combined with rigid and flexible.The research contents are as follows:Firstly,this article summarizes the research status of massage robots at home and abroad,analyzes the research significance of the subject and the existing research deficiencies.Based on the five massage technique parameters of pressing,vibrating,kneading,pushing and pinching and the standard size of the human hand,using a pneumatic muscle flexible driver combined with polymer silicone material to design a pneumatic massage claw with variable stiffness,and formulate the overall design scheme of machinery and control system.Secondly,according to the design scheme of the mechanical system,the three joints of the massage claw are designed,modeled and assembled,the virtual prototype is established,and the static stress analysis of the components is carried out.Choose the silicone with moderate hardness as the material for making the palm airbag and silicone fingers,and obtain the Yeoh second-order model parameters of the material through the uniaxial tensile test.The deformation of the palm and finger models was simulated and analyzed using finite element software to determine the wall thickness parameters of the airbag and verify the structural strength of the fingers.The variable stiffness of the palm airbag is realized according to the principle of vacuum blocking,and the palm bearing capacity is improved on the basis of softness.At the same time,the palm and finger parts are manufactured by the mold casting method,and the assembly of the overall prototype is completed.Thirdly,using the method of D-H coordinate to complete the kinematics analysis of the pinch finger structure to obtain the relationship between the link parameters and the space posture of the end effector,and the feasibility of the structure is verified by MATLAB simulation.The dynamics modeling of pinching finger structure is completed by Lagrange dynamics equation,and the relationship between joint torque and position velocity acceleration is obtained,which provides a theoretical basis for the motion control programming of the mechanical system.Finally,completed the design of hardware and software in the massage claw control system,assembled the prototype and functional debugging of the whole,and tested the variable stiffness performance of the palm airbag through the compression stiffness and maneuver strength measurement experiment,and obtained the relationship between the maneuver force and air pressure,and determine a reasonable pressure range,for the actual use of reference.