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根据人类下颌系统冗余驱动的生理特性,即下颌受颞下颌关节约束且受多于本身自由度数目的下颌肌肉驱动的特点,介绍了一种采用点接触高副模拟人体颞下颌关节的6PUS-2HKP(higher kinematic pair)冗余驱动并联机构来完成下颌运动,该机构可应用于牙科义齿性能测试.首先,建立机器人的坐标系,针对机构存在点接触高副的特点,分析和推导了冗余并联机构的独立位置参数和运动学方程.然后,采用下颌运动轨迹描记仪对实验对象下颌切点边缘性运动进行了采集.通过分析各驱动机构及点接触高副的运动范围,采用数值分析的方法获得了机器人的工作空间.最后,采用实验的方法,测量了仿下颌运动机器人做最大运动时下颌切点的运动轨迹.通过对比实验对象切点边缘性运动和工作空间仿真结果可知,该仿下颌运动机器人能够满足人类下颌运动空间要求.
According to the physiological characteristics of human mandibular system redundant drive, that is mandibular muscle driven by the mandibular joint constrained by the temporomandibular joint and more than the number of its own freedom, a 6PUS-2HKP which can be applied to denture denture performance test.Firstly, the robot coordinate system is established, and according to the characteristics of high kinematic pair with point-contact high-side mechanism, the redundant parallel connection is analyzed and derived Body position parameters and kinematic equations.And then, the mandibular motion track record instrument was used to collect the edge movement of the mandibular incision.According to the analysis of the movement range of each driving mechanism and the point contact high and vice, the numerical analysis method The working space of the robot is obtained.Finally, by using the experimental method, the movement trajectory of the mandibular point of contact when the maxillary robot imitates the maximal movement is measured.By comparing the cutting edge motions of the experimental subjects and the workspace simulation results, Motion robots can meet human mandibular movement space requirements.