电磁感应式机器人按摩头结构优化及安全力调控

基于电磁感应原理及中医按摩手法设计了一种可用于按摩机器人的新型电磁式叩击按摩头,具有便携通用的特点。通过模型分析,建立电磁力、弹簧负载力、人体阻力之间的数学关系,得出按摩头动态特性影响因素。采用正交试验法,对电路和磁路的影响因素进行敏感度求解分析,获得电磁力度计算结果。选择线圈匝数、线圈电流以及动铁芯到轭铁的距离这3个因素,将每个因素分为3个水平,组合得到9组试验方案。仿真实验结果显示,线圈电流是设计的按摩头模型电磁力的主要影响因素,因此可先确定2个次要因素的参数,实现按摩头结构优化,最后通过调节线圈电流进行按摩力度调控。

Structure Optimization and Safety Force Regulation of Electromagnetic Induction Based Massage Robot Head

A new massage robot head was proposed based on the principle of electromagnetic induction and Chinese massage skills. It is portable and could be used generally for different massage robots. Equations of electromagnetic force, load force and resistance force of skin were established upon the analysis of the model to figure out the factors influencing the dynamic features of the massage robot head. Electromagnetic force could be calculated under each combination by analyzing elements of electricity and magnetic with the method of Orthogonal. Three factors listed as numbers of coil, current of coil and the distance from moving core to the yoke were chosen. The simulation experiments were performed in nine groups by giving three data to each factor. The simulation results showed that the current of coil was more critical compared with numbers of coil and the distance between massage head to yoke. As a consequence, parameters of the other two factors could be confirmed prior to current of coil, and then the massage force could be regulated by adjusting the current of coil.