Resarch On Kinematic Modeling And Precise Control Of Multi-manipulator Tooth-Arrangement Robot

Oral rehabilitation robot,as a new subject rapidly developed in recent years,is the inevitable development trend of prosthodontics,because of its advantages of normalization,standardization and automation.The single manipulator tooth-arrangement robot adopted in nowadays can hardly solve the successive grasp and location problems of the artificial teeth,and what's more,it is with low efficiency and precision.So the method of multi-manipulators tooth-arrangement for complete denture is put forward,precise control of the position and gesture is realized by the cooperation of the multi-manipulators.This not only satisfies the physiological function and aesthetic requirements of the edentulous patients,but also improves the efficiency and precision of the tooth-arrangement.Aiming at the problems of kinematic and tooth-arrangement principle quantization of multi-manipulator tooth-arrangement robot,the kinematic model of multi-manipulators tooth-arrangement robot is established.Digital coordinate systems of different type anatomical artificial tooth are established based on torque angle and axial inclination of tooth position.Based on power function model of dental arch curve,the mathematical model of dental arch generator is established for multi-manipulator tooth-arrangement robot,the position of the artificial tooth in dental arch generator is calculated using the tooth-width iterative method,and the position compensation is realized by the control points.The kinematic model of the tooth-arrangement robot is established using analytical method,and calculations and simulations are made by the cases of patients,therefore the correctness of the kinematic model is validated.In order to realize the coordinated motion of the dental arch generator,the co-simulation of the dental arch generator is performed.The equal increment method of the arch parameters is proposed to achieve the motion planning of each control point of the dental arch generator,and the three different planning methods stress distribution result of the dental arch generator verify the effectiveness of the motion planning method.The co-simulation of the dental arch generator is realized,and the comparison between the simulation and the theoretical trajectories of the dental arch generator prove that the dynamic model and control model of drive module are correct and the structure is reasonable.Aiming at the high precision requirement and coordinated motion of tooth-arrangement operation,the precise motion control of the multi-manipulator tooth-arrangement robot is studied.The control pulse realization with high-resolution presetting timing method,high-resolution real-time timing method and CPU time-stamp timing method are proposed.The precision and stability analyses of control pulse output of the presetting,the real-time of high-resolution timing and CPU time-stamp timing are analyzed,and the errors of control pulse realization with three software timing method mentioned above are analyzed,too.The result show that the control pulse output of high-resolution real-time timing can meet the precise control requirement of multi-manipulator tooth-arrangement robot.Experimental system of multi-manipulator tooth-arrangement robot is set up,and the control experiment of the dental arch generator and tooth-arrangement experiment are performed.Actual and simulation motion trajectory of the dental arch generator of tooth-arrangement robot are approximately in agreement with theoretical motion trajectory.The results prove the feasibility and validity of the synchronization precise control of multi-manipulators tooth-arrangement robot by high-resolution real-time timing,and prove the accuracy and rationality of the co-simulation.Single point maximum error is regarded as the error evaluation criterion,then tooth-arrangement experiments are carried out according to two patient's jaw arch with different alveolar absorption,and single point maximum error of upper and lower dentition is no more than 1.72mm.Comparison between the results of robot tooth-arrangement and manual work verified the accuracy of quantization and kinematic model,and the viability of the multi-manipulators tooth-arrangement strategy.