Research On Structure Design And Control System Of Mandibular Rehabilitation Robot

At present,only the WY series parallel rehabilitation robot developed by Waseda University in Japan can help the TMD patients to carry out rehabilitation training.The series of rehabilitation robot has low efficiency,large area,costly,and the patient can only be rehabilitated in the hospital.This project proposes a new type of mandibular rehabilitation robot with high rehabilitation efficiency and low manufacturing cost.The robot's mechanical structure is further studied and a control system is developed.The physiological structure of the lower jaw was analyzed,and as a medical basis for rehabilitation training.The mandibular motion trajectory of volunteers was collected by using the MKG,which was used as the foundation for structural design of the robot.In this paper,the design scheme of open-close motion and lateral motion mechanism were put forward,and the feasibility of the mechanism design was validated by using Adams software to simulate the three-dimensional model of the simplified open-close mechanism and the lateral mechanism.Finally,the two mechanism designs were combined to complete the whole design of the mandibular rehabilitation robot.The materials of rehabilitation robot was selected to complete the physical design of the main components such as connecting rod 2,denture,spring and lateral rehabilitation platform of the opening-closing robot.The screw nut,bevel gear,servo motor and supporting reducer for the robot were designed and selected.A 3D model of the whole structure of mandibular rehabilitation robot was established by using Creo software.By contrast,the model of MCBL 3003 / 06 S manufactured by FAULHABER was used to control the speed of rehabilitation robot and the servomotor was configured by Motion Manager 6 software.After the hardware of the rehabilitation robot control system is correctly configured,and the speed control sequence of the rehabilitation training process is determined,and the flow chart of the control program is developed.The designed rehabilitation robot can help patients complete training.The results are of great significance to the development of mandibular rehabilitation robot.