Structural Design And Kinematics Simulation Of Cartesian Type Robot For Tooth Arrangment

A successful application of robot technology in the field of complete denture restoration is the tooth arrangement robot. Along with modem social development of aging and the high rate of elderly people suffering from bad gingivals, a type of tooth arrangement robot which can be produced and put into use rapidly needed to be researched for producing complete denture. The research of a miniature tooth arrangement robot with low cost and light weight not only meet the need of the edentulous patients but also has important significance on promoting the development of tooth arrangement theory, while the current tooth arragement robot remains on the research stage.First, for the purpose of miniaturization and portable instruments, a functional analysis of portable tooth arrangement robot is made based on TRIZ theory and got the solving process during the structural design of robot and solved the technique conflicts by using the contradiction matrix and material-field of TRIZ. On this basis, the general scheme was put forward base on the modularization thinking. After that, the structure design of prismatic joints and rotational joints were made. Meanwhile, the needle-type single tooth cap and grasper were designed for solving the difficult of grasping tooth. Second, the virtual prototype of Cartesian type robot for tooth arrangement was established by using Pro/E, while the model was input to AView of ADAMS for simulation analysis based on the interface software Mech/Pro 2005, and finally the contact force of the grasper and needle-type tooth cap after the displacement driving were imposed. Then, the static analysis of the whole robot was made by using ANSYS/Workbench and the deformation of the grasper was also analyzed with ANSYS. Finally, the actual workspace of robot were obtained by means of the simMechanics toolbox of Matlab, and got the position and attitude of the robot grasper and the coordinate system based on the method of D-H. Meanwhile, the forward and inverse solution of kinematics was calculated and error analysis of the kinematics result was got by differential method, the method of reducing error was after analyzing the reason of producing errors.This paper verifes the rationality and effectiveness of using TRIZ in the structural design of cartisian type robot for tooth arrangement and also provides the basis for future work to build the practical prototype and experiments after modeling the cartisian type robot for tooth arrangement, kinematics simulation, static analysis of the whole robot, workspace analysis and kinematics error analysis.