Research On An End-effector And Trajectory Planning For Orthodontic Arch Wire Bending Robot

With the living standards improving, people care more about their health then usual.Oral health is an important part of our life, and it catches more attention then years ago.Malocclusion is the common dental diseases, which not only affects the image of one person, but also will have a bad affection to one’s health. Thus it becomes an important research direction in oral medicine.The orthodontists are used to making the orthodontic arch by their hand in traditional treatment. It is a hard process, because the orthodontists need adjusting the shape of the mold orthodontic arch wire timely on the behalf of the patients’ teeth. It is time consuming and cannot reach the required accuracy. Meanwhile, the low efficiency of the bending process also increased the labor intensity of orthodontists, furthermore it highlights the doctor-patient ratio of current condition. This article will introduce a new method to use the industrial robots to solve the problem of bending the orthodontic arch wire. The article intends to improve the efficiency and accuracy of the process, which will liberate the hands of orthodontists and improve the cure rate of patients.In this article, in order to let the robot change tong head automatically according to its situation during the orthodontic arch wire bending, we designed a dedicated end effector base on the real situation of bending. For the springback process during the arch wire bending, we studied the springback characters with different materials and achieved a compensation plan to improve the accuracy and efficiency of the automatic bending. To get the bending trajectory node, we finished the parametrization design of orthodontic arch wire base on the program and motion of the bending. It would automatic generate a bending path with the parameter, and ultimately realize the automatic bending. At last, we built the robot simulation platform based on ROS and Gazebo, analyzing the robot’s motion trail and verifying the rationality of the robot path on the platform.