Design Of Motion Simulation And Control System Of Bionic Chewing Robot

Based on the mechanism of human mastication,combined with robot motion control technology,motor drive technology and embedded control technology,the bionic masticatory robot is designed and implemented to simulate the masticatory function of human mandible.It is of great significance for the research of oral rehabilitation,denture material detection and chewing mechanism in stomatology,and also for the development of food texture detector in food science.In this paper,the related work of two generations of bionic chewing robot prototype that the author participated in the design is summarized.The main research contents are as follows:Firstly,the background and significance of the research are introduced,then the research status of the bionic chewing robot is introduced,and the overall system and the design idea of the bionic chewing mechanism of various bionic chewing robots are summarized and analyzed;then the overall structure and the chewing mechanism of the human mandible chewing motion system are briefly introduced,and the common movement forms of the mandible motion are summarized The requirements of jaw motion freedom,masticatory performance parameters and the simplified scheme of biomimetic jaw structure size parameters are analyzed.Secondly,according to the summarized motion freedom requirements,chewing performance parameters and bionic mechanism design ideas,the bionic mechanical structure of the two generations of prototype is designed;the kinematics model of the prototype is established,and the spatial motion freedom of the prototype is analyzed based on the screw theory,and the position and posture of the mandibular masticatory platform are analyzed and calculated,which is the motion control and trajectory tracking of the rear control system Provide theoretical basis.Matlab program is designed to verify the workspace of bionic mandible.Based on the Simscape Multibody module,the mechanical and electrical system simulation model of the prototype is established,and the motion trajectory is set for simulation and tracking experiment,which provides reference input data for the embedded motion control system.Thirdly,an embedded motion control system based on STM32F407 is designed and built for the first generation of prototype.It includes multi-channel sensor data acquisition system,multi-axis stepping motor drive system and embedded GUI control interface based on STemWin,and the tasks are assigned and run in real time based on ?COS III embedded real-time control system.In this paper,the selection scheme of key components and the key technologies of control system and embedded human machine interface(GUI)design are given,and the key and difficult points of the overall control system structure and the main control process are explained.Finally,in order to verify the bionic performance of the prototype structure,the control performance of the motion control system,the data display and human-computer interaction function of the human-machine interface,the whole system of the bionic chewing robot is built by integrating the motion control system part of the first generation prototype with the mechanical structure part.In different motion modes,through the human-machine interface,the bionic chewing experiment is carried out,the actual working ability of each system is verified,and the corresponding bite force curve and platform motion track are obtained.Compared with the chewing track simulation in the Simscape Multibody,the bionic chewing function of the designed bionic chewing robot system is verified.