Wire-driven redundant parallel masticatory robot

A chewing robot and flexible cable-driven technology, applied in the field of bionic robots, can solve the problems of small working space, poor flexibility and complex structure, and achieve the effects of large working space, good flexibility and simple structure

Inactive Publication Date: 2010-10-06
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the existing chewing robot mechanisms, most of them use rigid components as the transmission mechanism, and some mechanisms that use flexible cable drive technology have less than 6 degrees of freedom, which means that the simulation of the human chewing system is not realistic enough. , poor flexibility, complex structure and small working space

Method used

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  • Wire-driven redundant parallel masticatory robot
  • Wire-driven redundant parallel masticatory robot
  • Wire-driven redundant parallel masticatory robot

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Embodiment

[0023] The chewing robot is composed of a frame, a drive module, flexible cables, a mandible model and a skull tooth model. The frame part of the robot is as Figure 1a As shown, the robot frame 1 is a cuboid frame structure, the left and right sides are square, and the rest are rectangular. A U-shaped slideway is arranged on the front, back and top surface of the frame, and a fixed support 3 is arranged on the bottom surface. 5 crossbeams 2 are installed on the frame, each two on the front and the top surface, and one on the back. There are holes at both ends of the crossbeam 2, and there is a U-shaped slideway in the middle, which is fixed on the slideway of the frame by bolts 12 and nuts 13 as shown in Figure 7, and the position can be adjusted according to different situations. The slideway on the crossbeam is used for installing the motor seat 4, and the position is also adjustable. The fixed bracket 3 is two protruding beams of L-shaped structure, one end is fixed on t...

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Abstract

The invention belongs to the technical field of biomorphic robots, and relates to a wire-driven redundant parallel masticatory robot, which consists of a frame, a motor, a reducer, a cable pulley, a wire, a human mandible model and a skull dental model. The frame is a support platform of the whole robot, and is provided with a movable beam; the motor is fixed on the beam through a motor base; the motor is connected with the cable pulley through the reducer; the cable pulley is wound with the wire; the other end of the wire is connected with the mandible model so as to drive the mandible model to realize the biomorphic motion in a three-dimensional space; and the skull dental model is fixed through a frame fixing support. The wire driving has the characteristics of simulating muscles more actually, having better smoothness and the like; and the integral structure is relative compact, the working space is large, and the redundant mechanism more meets the actual condition of the human masticatory system.

Description

technical field [0001] The invention belongs to the technical field of bionic robots and relates to a redundant parallel chewing robot driven by soft cables. Background technique [0002] Chewing robots are a class of robots that can simulate human chewing behavior. It can truly reproduce human chewing actions and collect and analyze chewing information, including chewing force, speed, vibration and so on. The chewing robot is a comprehensive bionic robot system integrating trajectory planning, perception system, real-time control system and biological simulation. It can be applied in dental training, food evaluation, speech medicine and other fields. [0003] The research on chewing robots is still blank in China; the research abroad is earlier and has achieved certain results. However, in the existing chewing robot mechanisms, most of them use rigid components as the transmission mechanism, and some mechanisms that use flexible cable drive technology have less than 6 deg...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A63H3/36
Inventor 丛明苌占波杜宇徐卫良刘冬姜英
Owner DALIAN UNIV OF TECH
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