一种用于康复机器人手指的软体致动器设计  

Design of A New Soft Actuator for Rehabilitation Robot Finger

作　　者：管瑞阳 王璐[1] 魏伟[1] 谢能刚 GUAN Ruiyang;WANG Lu;WEI Wei;XIE Nenggang(School of Mechanical Engineering,Anhui University of Technology,Ma’anshan 243032,China;School of Management Science and Engineering,Anhui University of Technology,Ma’anshan 243032,China;Ma’anshan Anhui University of Technology Intelligent EquipmentTechnology Research Institute Co.Ltd.,Ma’anshan 243032,China)

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243032 [2]马鞍山市安工大智能装备技术研究院有限公司,安徽马鞍山243032 [3]安徽工业大学管理科学与工程学院,安徽马鞍山243032

出　　处：《安徽工业大学学报（自然科学版）》2018年第4期348-351,共4页Journal of Anhui University of Technology（Natural Science）

基　　金：安徽省科技重大专项(17030901037)

摘　　要：针对手部运动功能障碍的患者康复问题,设计一种用于可穿戴式康复机器人手指的软体致动器。该软体致动器由具集成通道的弹性材料制成,内部为密集分布的三角形非充气腔室和菱形充气腔室,两种不同功能的腔室间隔分布,且充气腔室之间有通道连接。对于该软体致动器设计,首先在ABAQUS中进行变形仿真分析,验证其可行性;然后,采用3D打印技术等制作软体致动器实物并在搭建的实验平台上进行实验。结果表明,设计的软体致动器整体结构合理,可较好地实现手指0～90°弯曲运动,弯曲角度通过气压进行调节,能够满足手指关节运动及韧带拉伸的康复训练需求。Aiming at the rehabilitation problem of patients with hand movement dysfunction,a new soft actuator for wearable rehabilitation robot finger was designed.The soft actuator was made of elastic materials with integrated channels.The interior of the soft actuator was densely distributed with triangular non-inflatable chamber and rhombic inflatable chamber.The chambers of the two different functions were spaced apart,and there was a channel connection between them.For the soft actuator design,the deformation simulation analysis was first carried out in ABAQUS to verify its feasibility.Then,the soft actuator was manufactured with technique of 3D print,and experimented on the experimental platform.The results show that the designed structure of the soft actuator is reasonable,and the bending motion of the finger is 0-90°.The bending angle can be adjusted by the air pressure,which can meet the needs of rehabilitation training of joint movement and ligament stretching.

关 键 词：康复机器人手指 软体致动器 空腔网络结构 3D打印 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]