基于按叩一体的柔性按摩执行器设计与仿真

Design and simulation of a flexible massage actuator based on massage and percussion

针对按摩机器人的按摩执行器动作单一、易用性不高和柔性可靠性有待提高等问题。文中设计了一种按摩执行器,通过设计按摩和叩击一体的机构来增加按摩方式,具备柔性功能,能够缓冲冲击和提供适宜的按摩力度。设计的自锁机构能够自动实现按、叩动作的转换,提高了易用性。对导杆进行了有限元分析,其刚度能满足叩击力度的要求。采用ADAMS软件对执行器进行了动力学仿真,校核了柔性弹簧和叩击核心件设计选型的合理性。

A massage actuator is designed aiming at the problems to be improved of the massage robot’s massage actuator such as single action,low ease of use and flexible reliability.Flexible functions,shock-buffering effect and appropriate massage strength can be achieved through the design of a massage and percussion mechanism.The designed self-locking mechanism can automatically realize the conversion of pressing and tapping,which improves the ease of use.The finite element analysis of guide bar shows that its stiffness can meet the requirements of percussion force.The dynamic simulation of the actuator is carried out by ADAMS software,and the rationality of the design and selection of flexible spring and percussion core parts is checked.