The application discloses a
cantilever type instrument operation parameter optimization
trajectory planning method for a multi-constraint field
coupling in a limited space, and relates to the technical field of dental robots. In the tooth preparation process, the instrument is prone to collision with the tooth and
oral tissue in the limited space in the
oral cavity, and the end force deformation affects the
machining precision. The technical points are as follows: the
residual volume of the interaction between the bur and the tooth is calculated, and an end force deformation model based on
grinding force,
friction force and
extrusion force is established; a penalty function containing the collision between the bur and the tooth, the collision between the
handle of the dental handpiece and the mouth and the tooth is constructed, and the space
collision detection is carried out through the enclosing
ellipsoid method; in combination with the continuity requirement of the
joint angle, an optimization function taking the material
residual volume, the comprehensive deviation of the end deformation and the motion smoothness as targets is established, and a multi-objective optimization
algorithm is adopted to solve the optimal instrument
pose and joint parameters; and the operation parameters of the
cantilever type instrument under multiple constraints are optimized under the premise of ensuring the preparation accuracy and safety.