Structural Design And Kinematic Analysis Of Cartesian Archwire Bending Robot

With the development of robot technology, the application and implementation of medical robots become more and more extensively. Medical robots, can assist and even take place of doctor for medical treatment, has many excellent such as high accuracy, great reliability and little trauma. With living standards improvement, people increasingly pay attention to their appearance. Teeth as people outward appearance, their elegance and perfectness attracts more and more attention. In now days, the main method of orthodontics treatment is wear orthodontic arch wire for patients according to patients’oral paraneters. However, traditional orthodontic arch wire bending method requires manual bending and repeat comparison and correction. This method is time-consuming, laborious and highly depending on proficiency of doctor wire bending process. Thus, the arch wire bending robot is a successful application of robotics in the medical field.According to the miniaturization and customization of arch wire bending robot, firstly arch wire bending method was introduced in this research. Then the overall scheme of the arch wire bending robot, bending mould, motion plant and rotation part were design, respectively. Furthermore, a holding mechanism was designed to prevent arch wire’s looseness. And then, the virtual prototype model of arch wire bending robot was established in Solidworks. Meanwhile, the integral static analysis of the arch wire bending robot model was conducted in ANSYS/Workbench. Also, the deflection of the key components was analyzed. Next, the D-H method was used to establish the robot coordinate system of arch wire bending robot. Transformation matrix of end effector’s pose in generalized coordinates was obtained and the forward-inverse solution for robot kinematics was calculated. Additionally, with the help of Matlab SimMechanics toolbox, robot’s working space was analyzed. According to the design and analysis above, experimental platform was built. Finally, referencing patient’s oral cavity parameters, arch wire bending experiment was conducted and the experimental results error analysis were carried out.Based on virtual prototype modeling, overall static analysis, local static analysis, kinematics analysis, workspace analysis and arch wire bending experiment of rectangular coordinates arch wire bending robot, we can see that the design scheme and detailed procedure were all acceptable and effective.