Design Of Multi-joint Bending Deformation Pneumatic Actuator

With the development of China's aging population,medical rehabilitation has become an increasingly important focus of society.Effective medical rehabilitation equipment can help enhance the grasping power of the elderly and help patients with hand disabilities to obtain effective rehabilitation training.Traditional rigid medical aided rehabilitation equipment is rigidly connected,heavy and requires a certain amount of space for use.Flexible medical aided rehabilitation equipment uses flexible software actuators to drive the human body for muscle rehabilitation,which effectively solves the deficiencies of traditional rehabilitation aided equipment.Learn more closely to the human body curve,and effectively help patients in rehabilitation training.In this paper,first,by studying the movement principle of the single joint of the human hand,starting from the single joint pneumatic soft deformation drive,combined with the Yoshimura origami configuration,the design and research of the single joint deformable drive cavity and shape structure,combined with the hyperelastic theory Yeoh model analysis During the large deformation process of the actuator,the relationship between the size parameter and the air pressure and variable bending angle is analyzed,and the size structure is optimized by parameter fitting to obtain a suitable multi-joint deformation model.After obtaining the model,it is modeled by 3D modeling software,the designed model is imported into the finite element simulation software for simulation,and the parameters of the constitutive model are fitted by experimenting with the materials used,and then substituted into the finite element simulation software Carry out simulation,compare the structure of different wall thickness,cavity length and other size parameters,check the strength of the actuator and the deformation under different air pressure.Simultaneously simulate the single-joint and multi-joint drives to analyze their performance indicators.At the same time,a spatial pose model was established,and the overall spatial bending angle and working range were simulated to obtain the actual specific application range.Under the existing technology,the designed model is processed,and the available 3D printing and processing methods are searched for to develop the actuator.By designing and manufacturing the controller and the corresponding sensor control circuit,the command signal is converted into air pressure,that is,The air pressure inside the cavity can be controlled by the command of the controller,and the posture and air pressure can be detected by the sensor to realize selfawareness and autonomous control.At the same time,design and manufacture an experimental platform,perform the filling and deflation experiment on the processed actuator,check the operating status of the entire system,apply it in practice,and test and evaluate the performance of the actuator.This article provides a new type of thinking for the design of software-assisted medical rehabilitation drive.After theoretical modeling and practical application,it has been well confirmed.It is hoped that it can be really used in the field of medical rehabilitation in the near future to help patients relieve pain and restore health.