Research On Modeling And Controlling Of Masticatory Robot

Masticatory robot is a kind of robot, which can simulate human mastication movements and collect the mastication information, such as:force, displacement and velocity. Masticatory robots could be widely used in food texture analysis, dental training and other field in future.A masticatory robot model was founded according to the biological structure of masticatory system and the kinematics and dynamic model was built. A fuzzy-PID control was designed as the controller of the robot and some simulation was performed.Firstly, this paper introduced the research state and the development of masticatory robot and listed the achievements and the problems in this field. The objective, significance and content of the paper were given.Secondly, the human masticatory system was introduced and a masticatory robot model was built. The six DOF parallel masticatory robot model was based on the biological structure of masticatory system. The movable plate represented the mandible and the ground plate represented the skull. The six actuators divided into three groups represented masseter temporalis, and lateral pterygoid, respectively.Next, based on coordinate transition, the kinematic model of parallel robot was put forward and its dynamic model based on Lagrange equation was set up. This supplied mathematic model of parallel robot.Then, the SimMechanics model of the masticatory robot was built in Matlab/ SimMechanics. The SimMechanics model consisted of three parts:mechanism module, trajectory tracking module and controller module. A PID control was used in controller module.Then, a fuzzy-PID control was designed as the controller of the robot based on Matlab/Fuzzy Logic Toolbox. The fuzzy-PID control, combining the fuzzy control theory and PID control, was able to adjust parameters of the PID controller and improved the performance of the control system.Finally, the research in the paper was summarized and the trend of masticatory robot research was discussed.