[1]王文东,姜沁沁,许志城,等.电磁感应式机器人按摩头结构优化及安全力调控[J].机械与电子,2016,(12):71-75,80.
　WANG Wendong,JIANG Qinqin,XU Zhicheng,et al.Structure Optimization and Safety Force Regulation of Electromagnetic Induction Based Massage Robot Head[J].Machinery & Electronics,2016,(12):71-75,80.
点击复制

电磁感应式机器人按摩头结构优化及安全力调控
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2016年12期
页码:
71-75,80
栏目:
智能工程
出版日期:
2016-12-20

文章信息/Info

Title:
Structure Optimization and Safety Force Regulation of Electromagnetic Induction Based Massage Robot Head
文章编号:
1001-2257(2016)12-0071-05
作者:
王文东; 姜沁沁; 许志城; 何丽晶; 史仪凯
(西北工业大学机电学院, 陕西 西安 710072)
Author(s):
WANG Wendong; JIANG Qinqin; XU Zhicheng; HE Lijing; SHI Yikai
(School of Mechanical Engineering,Northwestern Polytechnical University,Xi'an 710072,China)
关键词:
电磁感应;  按摩头;  电磁力;  按摩机器人
Keywords:
electromagnetic induction;  massage head;  electromagnetic force;  massage robot
分类号:
TP241.3
文献标志码:
A
摘要:
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。
Abstract:
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.

参考文献/References:

[1] 王文东,邹英杰,史仪凯,等.MRI向导的手术针介入系统设计与兼容性研究[J].西北工业大学学报,2016,34(3),508-513.
[2] Huang Y,Li J,Huang Q,et al.Anthropomorphic robotic arm with integrated elastic joints for tcm remedial massage[J].Robotica,2015,33(2):348-365.
[3] Wang W D,Shi Y K,Yang N,et al.Experimental analysis of drilling process in cortical bone[J].Med.Eng.Phys.2014,36(2):261-266.
[4] Wang W D,Zhang P,Shi Y K,et al.Design and compatibility evaluation of magnetic resonance imaging-guided needle insertion system[J].Journal of Medical Imaging and Health Informatics,2015,5(8):1963-1967.
[5] Fazeli M S,Pourrahmat M M,Liu M L,et al.The effect of head massage on the regulation of the cardiac autonomic nervous system: A pilot randomized crossover trial[J].Altern Complem Med,2016,22(1):75-80.
[6] Ishii H,Koga H,Obokawa Y,et al.Development and experimental evaluation of oral rehabilitation robot that provides maxillofacial massage to patients with oral disorders[J].Int J Robot Res,2009,28(9):1228-1239.
[7] Luo R C,Chang C C.Electromyographic evaluation of therapeutic massage effect using multi-finger robot Hand[C]// 2011 IEEE International Conference on Robotics and Automation(ICRA),2011:2431-2436.
[8] 宋瑜,施至豪,唐智川,等.四连杆电动椅电动机的动力学模型及仿真[J].机械工程学报,2015(19):47-52.
[9] 杜光月.仿人机械手中医按摩手法的建模与柔顺控制[D].济南:山东建筑大学,2012.
[10] 王文东,史仪凯,杨宁,等.手术机器人中超声波电机磁共振兼容性研究[J].西北工业大学学报.2014,32(1):147-151.
[11] Yuan J,Zhou J,Yu C.Study on harmonics characteristics of magnetic-valve controllable reactor based on the finite element method[J].IEEE Transactions on Magnetics,2015,51(3):1-4.
[12] 陈金忠.按摩机械手关键技术研究[D].南京:东南大学,2011.

备注/Memo

备注/Memo:
收稿日期:2016-09-14
基金项目:国家自然科学基金资助项目(51605385); 中央高校基本科研业务费专项资金(3102015JCS05010)
作者简介:王文东(1984-),男,山东嘉祥人,博士,讲师,研究方向为康复和医疗机器人。
更新日期/Last Update: 1900-01-01