| Dental implant robot will be a new breakthrough in the field of medical surgery.However,the existing dental robot is complicated and the drilling system lacks flexibility.It is difficult to realize the drilling operation in oral cavity.In this paper,a more compact and flexible six degrees of freedom robot is designed.The kinematics and dynamic characteristics are studied.(1)The configuration synthesis of dental implant robot is studied.According to the design requirements and the comparative analysis of the advantages and disadvantages of various configurations,the configuration of the robot is selected.(2)The structure design of the dental implant robot was carried out.According to the configuration synthesis,the overall structure of the robot is given.The structure is more compact and flexible.Then,the static analysis of the end drilling system is carried out.It is concluded that the structural design meets the strength requirements.(3)Using D-H method to solve the kinematics of robot forward and inverse solution,and deduces the Jacobian matrix of the robot by differential transform method.Lay the foundation for system control.Then,using Robotics Toolbox and ADAMS software,the kinematics simulation is carried out to verify the correctness of the kinematic model.Finally,Monte Carlo method is used to analyze the workspace.(4)The finite element model of dental implant robot was established.ANSYS Workbench software is used to analyze its dynamic characteristics.It includes modal analysis and harmonic response analysis.The vibration mode and natural frequency of the robot are obtained by modal analysis.The structure of the robot is easy to be analyzed at resonance frequencies of 105 Hz and 844 Hz,which provides an important reference for preventing the resonance phenomenon.The above research results and conclusions provide a theoretical basis for the design and control of dental surgery robot,and further accelerate the pace of clinical application of dental implant robot. |
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