Abstract
In recent years, the demand for massage robots has increased dramatically in the field of Medical care. Traditional massage robots are mostly rigid robots. Compared with rigid robots, soft robots are more suitable for massage because of their softness and safety. However, the existing soft robots can not provide much output force for massage. In this paper, a flexible-driven multi-parallel soft massage robot with large output force is designed, which can realize two massage techniques, palm-pressing and palm-kneading. The robot is composed of three groups of flexible driving elements in parallel. It has strong adaptability and flexibility in the environment. It can solve the problems of difficult motion control and low output force of traditional soft robots. The kinematics and mechanics of the robot are modeled and analyzed, and the finite element simulation analysis is carried out by using ABAQUS software. The prototype is made and the experimental test platform is set up for experimental verification.
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