Computer Control For Multi-manipulator Tooth Arrangement Robot

Multi-manipulator tooth arrangement robot system is a whole new application of robotics in medical field. Its successful application will not only realize complete denture restoration quantification, promote the development of prosthodontics and relative fundamental theory, but also can solve the problems of artificial dental precision grasp and orientation in turn as well as fix up which are difficult to realize by single manipulator. Thus full denture making can satisfy physiological function and beauty requirement of the patient with edenlulous jaw, and realize the making level of standardization and automation with high efficiency and low repairing rate. Its realization also can solve the problems of multi-motor synchronization and coordinated control.Based on the introduction and analysis of the fundamental structure of the multi-manipulator tooth arrangement robot, we adopt the motion control scheme which used photoelectric isolation plate with interface card and computer to realize the computer control of the robot. At first, we develop the step motor driver which is based on integrated power drive chip A3977, then after analyzing several high-precision timing method software, we program the software timing module procedures which are suit for multi-manipulator tooth arrangement robot’s control, and this lays a good foundation of synchronous running of multi-motor. And also we calibrate the initial position of the robot, and study the calculating method of movement control parameters and the correlation theories of motion planning. According to the concrete patient’s jaw arch parameters, we give a practical calculation, and test the calculated results and motion planning theory by Matlab. At last, we construct a hardware control system of multi-manipulator tooth arrangement robot, and study on the motion control algorithm of the multi-motor, as well as develop a robotic control software which is based on VC++ 6.0. According to the practical example, the motion control experiment of slipway mechanism was designed, it proved that the calculation and planning of the robotic motion control parameters are reasonable and feasible.The development of multi-manipulator tooth arrangement robot system is a novel applicant attempt of robot technology in oral cavity repairing. The research of this thesis has an important reference significance to high-precision software timing, kinematic analysis and motion trajectory planning of multi-jiont robot, multi-motor synchronization and coordinated control, and it also makes a foundation of full-closed loop control of multi-manipulator tooth arrangement robot, therefore this project has huge practical meaning and wide application prospects.