用于手康复机器人的弯扭复合超声驱动器振子仿真分析  

Oscillator simulation analysis of ultrasonic actuators for bending and twisting compound for hand rehabilitation robots

作　　者：卢景新 郭凯[2,3] 刘畅[1] 杨洪波[1,2,3] LU Jingxin;GUO Kai;LIU Chang;YANG Hongbo(School of Mechanical and Electrical Engineering,Changchun University of Science and Technology,Changchun 130022,China;Suzhou Institute of Biomedical Engineering and Technology,Chinese Academy of Sciences,Suzhou 215163,Jiangsu,China;School of Biomedical Engineering(Suzhou),University of Science and Technology of China,Suzhou 215163,Jiangsu,China)

机构地区：[1]长春理工大学机电工程学院,长春130022 [2]中国科学院苏州生物医学工程技术研究所,江苏苏州215163 [3]中国科学技术大学生物医学工程学院(苏州),江苏苏州215163

出　　处：《实验室研究与探索》2022年第9期129-134,共6页Research and Exploration In Laboratory

基　　金：江苏省科技计划重点项目(BE2017007-2)。

摘　　要：用于手功能康复机器人的超声驱动器的性能大部分取决于驱动器的振子,振子的结构设计与尺寸参数对驱动器至关重要,振子的结构设计尺寸对驱动器的性能影响规律是本文的研究重点,通过观察不同结构尺寸变量对振子的共振频率与幅值的影响,为合理设计制作用于手功能康复的超声驱动器结构尺寸提供理论依据和前期准备。首先,根据手功能康复机器人的驱动需求提出改进方法,用超声驱动器替代传统电机优化性能。其次,分析驱动器的设计理论,寻找不同结构尺寸对于振子的共振频率和幅值的影响规律。最后,对用于手功能康复机器人的弯扭复合的超声驱动器的振子进行模态分析、谐响应分析和瞬态分析仿真,得出在设计尺寸下的驱动器可以满足手功能康复机器人的要求。这是超声驱动器在康复机器人领域的应用探索,利用超声驱动器体积小、质量小、构造简单、定位准确、大功率密度、响应时间短等亮点,改善手功能机器人在驱动装置上的性能。The performance of the ultrasonic actuator for hand functional rehabilitation robot depends mostly on the oscillator of the actuator,and the structural design and dimensional parameters of the oscillator are crucial to the actuator.The influence of the structural design and dimensions of the oscillator on the performance of the actuator is the focus of this paper,and by observing the influence of different structural dimensional variables on the resonant frequency and amplitude of the oscillator,it provides theoretical basis and preliminary preparation for the reasonable design and production of the structural dimensions of the ultrasonic actuator for hand functional rehabilitation.First,an improvement method is proposed to optimize the performance of the hand function rehabilitation robot based on its drive requirements by replacing conventional motors with ultrasonic drives.Secondly,the design theory of the driver is analyzed to find the influence law of different structural dimensions on the resonant frequency and amplitude of the oscillator.Finally,modal analysis,harmonic response analysis,and transient analysis simulations of the oscillator of the bending-torsional composite ultrasonic actuator for the hand-functional rehabilitation robot were performed,and it was concluded that the actuator could meet the requirements of the hand-functional rehabilitation robot at the designed dimensions.This is an exploration of the application of ultrasonic actuators in the field of rehabilitation robots to improve the performance of hand-functional robots in the actuators by using the highlights of ultrasonic actuators such as small size,small mass,simple construction,accurate positioning,large power density,and short response time.

关 键 词：手功能康复 超声驱动器 模态分析 瞬态分析 

分 类 号：TH113.1[机械工程—机械设计及理论]