| Bionic chewing robot is designed and manufactured for human gnathostomatic system according to bionic principle,which can reproduce human mandibular chewing movement and chewing force.Its scientific value has a strong influence in many fields.Based on the redundant characteristic of the mandible system and the mechanical bionic principles,an innovative 5-DOF series-parallel hybrid high pair intelligent dental robot for human mandible movement is presented in this paper.The main study includes the following aspects.Firstly,the overall design index of intelligent dental robot prototype is determined in this paper.Analyzing the types and functions of various chewing robots,the motion function and detection function of the prototype of intelligent dental robot are designed.Based on the principle of mechanism kinematics,the motion system of parallel mechanism of high pair and serial mechanism of cross slide platform of intelligent dental robot prototype is designed and completed,and finally the 5-DOF chewing motion of mandibular moving platform is realized.304 stainless steel is selected as the processing material of the whole structure of the intelligent dental robot prototype,which can fully withstand the occlusal force limit required by human chewing movement,and has good strength and reliability.A set of electrical system is designed to realize the single and joint control of the motor of each part of the mandibular moving platform.A set of sensor system is designed,which can convert the collected signal into digital signal and transmit it to computer through serial port connection.Secondly,according to the coordinate system of parallel mechanism of high pair of and serial mechanism of cross slide platform,the kinematics model was established.Kinematics analysis of mandibular mobile platform device is carried out.The degree of freedom of the model is analyzed by using space helix theory,and the forward and inverse kinematics analysis of the model are analyzed.The relationship between mandibular mobile platform attitude angle and motor rotation angle is obtained,which effectively guides the driving mode and motion trajectory planning of the electrical system.The motion ranges of lead screw and ball bearing are solved respectively.According to the envelope space parameters of human chewing motion,the workspace of mandibular platform is analyzed.The influence of mechanical structure and electric drive control on the motion accuracy of mandibular platform is studied,and the error compensation analysis is carried out.The high precision control of mandibular platform motion is realized.Finally,in order to verify the rationality of mechanical structure design,driving reliability of electrical system and stability of data acquisition of sensor system of intelligent dental robot prototype,relevant experiments were carried out in the laboratory,including motion performance test and occlusal force test of intelligent dental robot prototype.In the process of testing the motion performance of the prototype,the hardware and software parts of the electrical system designed in this paper cooperate closely.Its electrical control signals and feedback can be transmitted in time.The electrical system and mechanical structure can coordinate the operation,so that the mandibular moving platform can achieve the specified motion according to the requirements.It has good stability and precision.In the course of movement,the occlusal force curve of single denture and complete denture is obtained by measuring and data acquisition of the sensor system.The experimental results are consistent with the theory,which proves that the intelligent dental robot prototype developed in this paper can meet the requirements. |
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