Research On Integrated Bionic Robot For Chewing And Swallowing

With the progress of the society, people's requirements of life's quality are also gradually improve. The development of various new type of food is also emerge in endlessly. In order to cater to the tastes of the public, the texture of food in the development of food's evaluation is an important mean to evaluate the economic value of a new food and reduce the development of new food cycle. Currently, on the market for new food quality testing relies on experts and instruments, experts' evaluation on food with too subjectivity to establish a unified standard accurately. Since the cultivation of a mature food expert's cost is too expensive that instrumentation mainly depends on the Texture Analyzer. But it hardly simulates the complex in the process of oral environment and chewing movement, and testing data is of both single and inaccurate. With the accelerated process of Urbanization, disease of the esophagus in the elderly diseases is more and more common. the disease cause dysphagia that easily make the old man poor nutrition, lack of water, even be suffocated. structure of Human swallowing system is complex, it's difficultly to observe food's transport in the esophagus, so the treating medical and food for dysphagia is very difficult.In this paper, based on the classic Stewart parallel mechanism, the market with quality and structure of the instrument, designed a chewing platform to mimic human's chewing bionic. Through the analysis of the kinematics of chewing platform, to test the platform chewing movement; Based on the analysis of the physiological mechanism of human swallowing, Design a pneumatic drive rubber materials bionic esophagus, a mathematic model of the food in the esophagus, transport, analyzes its flowing characteristics, theoretical basis for design and driven.At first, this paper introduces the human chewing movement mandibular movements in the system, according to the requirements of the scope of and degrees of freedom movement?Based on Stewart parallel mechanism and the characteristics of mass structure, design the bionic chewing platform; In order to achieve the goal and its environment in the process of simulation, using the Reverse Engineering for 3 D model of teeth, using 3 D printing, print out the complex tooth model, design a simple oral model and tongue; Analysis of physiological properties of human swallowing, pneumatic driven bionic design of the esophagus. Review chew integration mechanism, bionic, bionic oral teeth and bionic esophagus swallowed integration bionic structure and working process of the robot.Then, to analysis the relationship between input the Chewing agency and output of terminal actuators based on static coordinate system, the position and speed of the inverse solution of chewing mechanism are obtained; In chewing, on the basis of the solution, the motion of the constraint conditions based on the structure of the organization and a wide range of jaw chewing movement, work space under a given posture is calculated. Through the analysis of kinematics and workspace, inspection institution can realize the request of chewing chewing.Finally, analysis of the esophagus transmission characteristics of the food supply,established esophageal transport mathematical model, and solving several fluid characteristic parameter of the esophagus transmission process; using COMSOL simulation in the process of human swallowing, solving the esophagus in the dynamic characteristics of the process of swallowing food, analysis of different viscosity food and transport characteristics of different ages of the esophagus.