Research On Self-learning Mapping Model Of Orthodontic Archwire Bending Robot

The emergence of robotic orthodontic archwire technology "liberates" the hands of orthodontists,greatly improving the efficiency of archwire bending,allowing doctors to focus more on the diagnosis and treatment of patients.However,due to the limitations of the robot structure and the bending method,the requirements to bend all kinds of functional curves cannot always be satisfied.In practical applications,the hands of the orthodontist can flexibly realize the bending of various curves.Therefore,the movement law of orthodontic archwire is analyzed and summarized in this paper.On this basis,the structure of orthodontic archwire bending robot is designed by combining the freedom of human hand bending.Furthermore,a mapping model of human hand bending motion and robot bending motion is established.In the end,the purpose can be realized that the robot can autonomously bend a curve like a human hand.The human-bending movement of various functional curves of orthodontic archwire and the needed degrees of freedom based on proprioceptive derivation are studied.Then,the number of freedom that satisfy all the bending functional curves can be obtained by taking the union of the freedom required for bending each functional curve.The structure of the orthodontic archwire bending robot was designed based on the mapping of the degree of freedom of the human hand bending,and ANSYS was used to analyze the statics of the dangerous parts in the bending process of orthodontic arch wire.The mapping methods commonly used in robot research are analyzed,and the mapping of human-robot motion workspace is proposed.The forward kinematics of orthodontic archwire bending robot is analyzed and calculated.The SimMechanics simulation is used to obtain the workspace of the robot and the working space under the state of bending motion,and the mapping between the working spaces is established.The parametric model of orthodontic archwire bending motion based on manual operation and robot hand operation is established respectively,and the mapping model from human hand bending motion to robot bending motion is established based on the bending point.On this basis,a method based o n linked list for orthodontic archwire self-learning bending forming method is proposed.The orthodontic archwire simulation bending environment and the URDF file of robot model are established basing on ROS(Robot Operating System).The simulation bending process of the combination of the first sequence curve and vertical sequence are implemented by using the 3D visualization environment Rviz and the motion planning module MoveIt in ROS.The prototype of the orthodontic archwire bending machine was built,and the bending experiment was carried out on the combination of the first sequence curve and vertical sequence.The hand bending motion to the robot bending motion mapping method which can realize the orthodontic archwire flexible bending are proved.