艾灸机器人柔性臂的设计与仿真  

Design and Simulation of Flexible Arms of Moxibustion Robots

作　　者：王新 侯腾达 Wang Xin;Hou Tengda(Qing Gong College,North China University of Science and Technology,Tangshan 063000,China;College of Mechanical Engineering,North China University of Science and Technology,Tangshan 063000,China)

机构地区：[1]华北理工大学轻工学院,河北唐山063000 [2]华北理工大学机械工程学院,河北唐山063000

出　　处：《机械传动》2024年第9期82-88,共7页Journal of Mechanical Transmission

摘　　要：对艾灸机器人柔性臂进行了设计和仿真。柔性臂选用热塑性聚氨酯弹性体(Thermoplastic Polyurethane,TPU)材料、分段式波纹管结构,包括弯曲段和伸长段。应用Abaqus CAE分析软件,对波纹管壁厚、波纹角等结构尺寸进行了设计优化,从弯曲角度与气压关系、灵活度方面对柔性臂进行了运动学仿真分析,并对柔性臂力学性能进行了计算分析。结果表明,设计的艾灸应用场景的机器人柔性臂能够满足负载能力和灵活度的要求。The flexible arm of moxibustion robots was designed and simulated,and the flexible arm was made of thermoplastic polyurethane(TPU)and segmented bellows,including the bending section and the elongated section.Using Abaqus CAE analysis software,the structural dimensions such as the wall thickness and the corrugated angle of the bellows were optimized,the kinematics simulation analysis of the flexible arm was carried out from the relation between bending angle and air pressure and flexibility,and the mechanical properties of the flexible arm were calculated and analyzed.The results show that the robot's flexible arms designed for the moxibustion application can meet the requirements of the load capacity and the flexibility.

关 键 词：艾灸机器人 柔性臂结构 波纹管 仿真设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH789[自动化与计算机技术—控制科学与工程]