机器人2017，Vol.39Issue(1)：70-80,11.DOI:10.13973/j.cnki.robot.2017.0070
咀嚼机器人运循环规划及驱动力优化分配方法
Occlusion Masticatory Cycle Planning and Driving Force Optimal Distribution of an Actuation Redundant Chewing Robot
摘要
Abstract
In order to achieve individualization of denture performance test for dental patients, the biomimetic maxilla and mandible structures installing a dental model are designed based on a 6PUS-2HKP spatial parallel biomimetic chewing robot with redundant actuation. In order to satisfy requirements of highly biomimetic chewing movements in the denture performance test, a parametric biomimetic planning method for the posterior teeth occlusion masticatory cycle is proposed on the basis of temporomandibular joint (TMJ) motion theories. Combining Lagrangian formulation and virtual work principle, dynamics of the actuation redundant chewing robot is deduced. The mathematics model of driving force optimal distribution of the actuation redundant chewing robot is established by means of genetic algorithm under 2 different optimization goals, i.e. minimal 2-norm of temporomandibular joint forces and minimal 2-norm of driving forces. Applying force-deformation curve of simulation food silicon rubber, which is obtained by food texture analyser, to the molar tooth of the chewing robot, chewing experiments on simulation food under occlusion masticatory cycle are carried out. The experiment results show that incisor trajectory shape, incisor velocity changing rules, and condylar motion forms, and so on, all conform to human chewing movements. Reasonable driving force optimal distribution results can be obtained under conditions with or without simulation food. The occlusion masticatory cycle experiment is carried out on the chewing robot with 6 actuation forces obtained by the simulation as the input. Prototype experiments and chewing experiments on simulation food demonstrate the bio-imitability of the parametric planning method for the posterior teeth occlusion masticatory cycle and the feasibility of the driving force optimal distribution method.关键词
咀嚼机器人/运循环规划/驱动力优化分配/牙科义齿性能测试Key words
chewing robot/occlusion masticatory cycle planning/driving force optimal distribution/denture performance test分类
信息技术与安全科学引用本文复制引用
王贵飞,丛明,徐卫良,温海营,秦文龙..咀嚼机器人运循环规划及驱动力优化分配方法[J].机器人,2017,39(1):70-80,11.基金项目
国家自然科学基金(51575078). （51575078）
