Trajectory Planning And Motion Control Of Archwire Bending Robot

Robot is a mechanical and electrical integration system. With development of the robot in industry the application of robotics in the medical field has become a hot topic. This trend will change many concepts of traditional medicine and related disciplines will have a positive development. The archwire bending robot researched is a kind of special robot which provides services for orthodontics. The robot takes place the traditional manual method to finish the archwire bending. It will significantly improve the accuracy of archwire and efficiency of bending. The amount of oral doctor's labor will be reduced if the archwire bending robots can be widely used and the degree of clinical oral medicine automation will be improved.Firstly the whole general scheme of the arch wire bending robot system is designed in this paper. Then the function of the system is elaborated and the analysis of MOTOMAN UP6 robot kinematics is studied as the theoretical of the motion control software. Then the archwire bending gripper mechanism is designed and the drive mode is selected. After these two steps, the trajectory planning is studied with combination of MOTOMAN UP6 robot's movement pattern. The entire system software function is described according to actual needs that the robot must achieve. Following that the function modules host computer software are introduced in details. This subject has completed the phased development of archwire bending robot control software and verified system-wide operation and control principle. Finally, the archwire bending experiment is done to make the standard corrective archwire and analyzes the cause of the errors.The archwire was bended on some certain control points with the function of y = 0.005x2.8under a specified maximum deviation. It showed that the archwire had a good accuracy after compared with the standard exponential function curve. As a result, the whole system as well as motion control program is reasonable and feasible.