Redundant actuation chewing robot with bionic temporal-mandibular joint

Abstract

The invention discloses a redundant actuation chewing robot with a bionic temporal-mandibular joint. The redundant actuation chewing robot comprises a robot mechanical body structure and a control system. The invention belongs to the technical field of a bionic robot. On the basis of fully researching the structure, the function and the moving form of the temporal-mandibular joint of human, the bionic temporal-mandibular joint is designed through a point-contact high-vice structure, and the actuation of chewing muscles to the mandible is simulated through six PUS branched chains; therefore, a parallel-connection mechanism containing the point-contact high-vice structure has the characteristic of redundant actuation and meets the redundant characteristic of a mandible system. The redundant actuation chewing robot with the bionic temporal-mandibular joint, which is disclosed by the invention, has the advantages of high bionic property, high rigidity, low specificity and the like; the control system of the redundant actuation chewing robot has three working modes of demonstration, food estimation and false tooth test; application of the chewing robot in multiple sciences such as the oral medicine and the food science can be realized.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and relates to a redundantly driven chewing robot with bionic temporomandibular joints. Background technique [0002] Chewing robots can simulate human jaw movement behavior and reproduce its biomechanical environment, and its research results have broad application prospects in the fields of stomatology and food science. For example, it can be used in denture material wear experiments, denture fatigue life tests and medical teaching. In addition, chewing robots also have great application value in the field of food science, and can be used as a test platform for experiments such as food chewing dynamics and food mechanical properties. [0003] The human mandible is driven by masticatory muscles, and under the constraints of the temporomandibular joint, it performs complex opening and closing movements in three-dimensional space relative to the maxilla. As one of the most complex motion j...

AI Technical Summary

Problems solved by technology

The redundant parallel mechanism composed of the PUS branch chain and the point-contact high pair adopted by the robot not only reflects the redundant characteristics of the human jaw system, but also can solve the problem of the reduction of the movement accuracy and stiffness of the parallel mechanism caused by the singularity, and the reduction of the drive joints. Inability to exercise control, etc.

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