Redundant actuation chewing robot with bionic temporal-mandibular joint

A chewing robot and temporomandibular joint technology, applied in the field of bionic robots, can solve the problems of reduced stiffness, uncontrollable drive joints, and reduced motion accuracy of parallel mechanisms, so as to improve motion performance, enrich mechanisms, and broaden configuration methods Effect

Active Publication Date: 2014-03-05
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 ca

Method used

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  • Redundant actuation chewing robot with bionic temporal-mandibular joint
  • Redundant actuation chewing robot with bionic temporal-mandibular joint
  • Redundant actuation chewing robot with bionic temporal-mandibular joint

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Experimental program
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Embodiment approach

[0045] According to the application field of the chewing robot, select the working mode of the robot control system on the GUI interface of the upper computer control module, and input reasonable control parameters. The upper computer control module sends control instructions to the network programmable controller through the serial port communication module. The network programmable controller performs logic processing on the control instructions and sends high-speed pulses to the servo controller, and the servo controller controls the servo motor. The networked programmable controller reads the chewing force and position information of the robot collected by the sensing module, and feeds back to the host computer control module for adjusting the control instructions.

[0046] Overall operation process of the present invention

[0047] The redundantly driven chewing robot with bionic temporomandibular joints of the present invention can be applied to medical teaching, food ev...

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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...

Claims

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Application Information

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IPC IPC(8): A61C13/38
Inventor 丛明王贵飞温海营杜婧徐卫良
Owner DALIAN UNIV OF TECH
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