基于分段式多腔致动器的康复手设计与分析

IF 1.8 4区 工程技术 Q3 ENGINEERING, MECHANICAL
Huadong Zheng, Wei Bai, Caidong Wang, Xinjie Wang, Linxiao Liu
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引用次数: 0

摘要

软康复手因其良好的环境适应性和耦合安全性成为机器人领域的研究热点。为了使软康复手具有较大的自由度和较强的驱动力,同时具有佩戴舒适、轻便的特点,本文基于仿生学原理设计了一种分段式多腔致动器软康复手套。不同类型的手指和不同形状、大小的骨节执行器并行组合,实现了手指多样化的运动形式。研究了康复手的运动变形机制,并借助 ABAQUS 有限元分析软件分析了软指的驱动效果。利用三维打印技术和浇注成型技术制作了分段式软康复手指物理原型。通过仿真数据和实验数据的对比分析,验证了仿真模型的准确性。通过康复单指同时驱动三个制动关节,从 0 到 60 kPa,跟踪运动轨迹和弯曲角度。对模拟数据和实验数据进行了对比分析,以验证模拟模型的准确性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Design and analysis of rehabilitation hand based on segmented multi-chamber actuator

Design and analysis of rehabilitation hand based on segmented multi-chamber actuator

The soft rehabilitation hand has become a research hotspot in the field of robotics due to its good environmental adaptability and coupling safety. To make the soft rehabilitation hand have a large degree of freedom and strong driving force, as well as being comfortable and lightweight to wear, this paper designs a segmented multi-chamber actuator soft rehabilitation glove based on the principle of bionics. The actuators of different finger types and bone segments, which are also various in shape and size, are assembled in parallel to realize diverse movement forms of fingers. The motion deformation mechanism of the rehabilitation hand is studied, and the driving effect of the soft finger is analyzed with the help of ABAQUS finite element analysis software. 3D printing technology and pouring molding technology were used to make segmented soft rehabilitation finger physical prototype. The accuracy of the simulation model was verified by comparison and analysis of simulation data and experimental data. Simultaneously driving three brake joints through a rehabilitation single finger from 0 to 60 kPa, the motion trajectory and bending angles were tracked. A comparative analysis between simulation data and experimental data was conducted to validate the accuracy of the simulation model.

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来源期刊
CiteScore
3.60
自引率
13.60%
发文量
536
审稿时长
4.8 months
期刊介绍: The Journal of the Brazilian Society of Mechanical Sciences and Engineering publishes manuscripts on research, development and design related to science and technology in Mechanical Engineering. It is an interdisciplinary journal with interfaces to other branches of Engineering, as well as with Physics and Applied Mathematics. The Journal accepts manuscripts in four different formats: Full Length Articles, Review Articles, Book Reviews and Letters to the Editor. Interfaces with other branches of engineering, along with physics, applied mathematics and more Presents manuscripts on research, development and design related to science and technology in mechanical engineering.
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