Structural Analysis And 3D Parametric Kinematic Simulation Of Multi-manipulator Tooth Arrangement Robot

The tooth arrangement robot based on multi-manipulator is a full denture manufacturing system of computer aided design and robot aided operation. It can replace most of the work of rich experiential dentists during the full denture manufacturing. The system can operate more accurately by using digital method, and it can avoid their mistakes brought by their fatigue, mood, and neglect and assure the quality of denture, advance the work efficiency, also reduce the manufacturing cost. Therefore, the research of multi-manipulator tooth arrangement robot has an important and practical significance.This thesic is based on the research of multi-manipulator tooth arrangement robot, firstly, the whole structure and working principle are analyzed, and the software ANSYS is used to analyze the stress and strain of dental arch generator under static and dynamic situation, then the deserved and biggest value of stress and strain are used in structure safety checkout. Secondly, the co-simulation of ANSYS and ADAMS is applied to simulate the motion of multi-manipulator tooth arrangement robot and get the 3D kinematic view of robot when it is working. The intervening during the movement of every manipulator is checked by building sensors in ADAMS, and this can give a visual aid to the trajectory planning of tooth arrangement robot. Among these, the most important technology in this thesic is the co-simulation technology which combines the advantages of two softwares. This technology solves the problem that the dental arch generator can not simulate on the condition of rigid body. The simulation is completed by replacing the rigid body with the flexible body built in ANSYS, and after simulation the dynamic load of the dental arch generator during the simulation can be got which is provided to ANSYS to finish the stress and strain analysis of dental arch generator under dynamic situation. Finally, the ADAMS user subroutine and user interface are developed combining with VC++, also the connection of VC and ADAMS and the transfer of drive parameters are realized.The research in the thesic has an important reference significance to structure analysis, modeling of flexible, co-simulation of ANSYS and ADAMS, and the development of ADAMS user subroutine, and it also makes a foundation of building a real-time automatic simulation system of multi-manipulator tooth arrangement robot.