Structural Design And Simulation Analysis Of SCARA Robot For Tooth Arrangment

In order to restore maxillofacial morphology and physiological function,preservation of maxillofacial and mandibular tissue of the joint health needtimely oral restoration. Traditional mouth restoration is often based on visualevaluation and manual operation, limiting operation accuracy, resulting in clinicalmedical process in the presence of great random and limitations. The computerand artificial intelligence theory is perfect, providing possibility for designingoral clinical application of tooth arrangement robot. Therefore, the subject of thestudy of SCARA type tooth arrangement robot is committed to meet the broadneeds of patients without jaws, promotion as the destination, trying to design aminiaturization, low cost medical robot. In order to shorten the dentureproduction cycle, improve the precision of the tooth row.The subject make a research on the current dental arch curve configurationmethod, reading the relevant literature at home and abroad, and the robotstructure layout, putting forward a joint type tooth arrangement robot design. Onthe basis of prosthodontics clinical requirement, do the analysis on the tootharrangement robot function, on the local joint’s detailed design and drive means.According to the idea of modular making the calculation and selection for steppermotor, synchronous tooth-shaped belt, screw and other parts and focusing ondesigning the lifting mechanism, the structure and the gripper clampingmechanism, using Pro/E software to draw a robot3D model. Then introducing theCAE and the basic theory of finite element method, make the analysis by usingANSYS/Workbench for robot integral static, and the key parts in the loadingdeformation analysis. Then use the robot kinematics theory, use the D-H methodto establish the teeth arrangement robot coordinate system, deduced the inversetransform equation and its corresponding solutions, and draw the working space of robot by using the Matlab SimMechanics toolbox, and providing referernce forparameters of the robot and the layout structure. Finally established the model ofvirtual prototype, with the help of Pro/E and Adams interface software, thenimport the assembly model into Aview module, by adding the kinematic pair andcontact conditions, the displacement of the drive way to draw the robot gripperend displacement curve, calculate contact foce between the gripper and braces,and undertake an analysis on the robot vibration, draw1~6modal graph,providing reference for the driving of the robot control.Through the calculation of SCARA tooth arrangement robot, virtualprototype modeling establishment, static deformation analysis, working spaceplot, the motion simulation analysis, it provides reference data for optimizationand modified of designed robot and lays the theory foundation for the feasibilityof structure and the next control scheme.