Six-degree-of-freedom chewing robot control system

A chewing robot and control system technology, applied in the field of robotics, can solve problems such as difficulty in obtaining PID control parameters

Inactive Publication Date: 2015-12-30
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the machining accuracy of robots, each robot has individual differences, and it is difficult to obtain consistent PID control parameters.

Method used

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  • Six-degree-of-freedom chewing robot control system
  • Six-degree-of-freedom chewing robot control system
  • Six-degree-of-freedom chewing robot control system

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Embodiment Construction

[0039] Below, based on accompanying drawing, embodiment of the present invention is described in detail:

[0040] The object of the present invention is to invent a chewing robot control system for simulating human chewing action to study the mechanical properties of food. Human mastication is the contraction of more than 20 masticatory muscles, which are affected by many non-deterministic factors such as the shape, size and toughness of the food. The masticatory muscles contract under the control of the nerves to provide the source of power for the jaw movement. Based on the anatomy of human masticatory muscles, the pterygoid muscles involved in human mastication include the inner pterygoid muscle and the outer pterygoid muscle. The temporal muscle is composed of three bundles of muscles: front, middle and back. The masseter muscle is composed of deep masseter muscle and superficial masseter muscle. , so this patent utilizes the parallelogram law of the mechanical principle t...

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Abstract

The invention provides a six-degree-of-freedom chewing robot control system, and aims at solving problems that conventional point-to-point cubic polynomial interpolation is high in the required torque and relatively large in the required equipment size. Each chewing robot has problems of individual difference and symmetry of six driving rods due to the factor of machining accuracy of the robot so that consistent PID control parameters are difficult to obtain. The following scheme is adopted: step one: the movement tracks of each branch rod of the chewing robot are planned, telescoping of each driving rod is solved through the position and the posture of incisor points, and the expected position and speed of each driving rod are solved through a path passing point cubic polynomial interpolation method; and step two: the chewing process of the robot is controlled according to the movement tracks of each branch rod, and the chewing process includes three phases of opening, closing and occlusion; and fuzzy control is used in the opening and closing phases, and fuzzy PID control is used in the occlusion phase.

Description

technical field [0001] This patent is based on the research and analysis of physiological characteristics of masticatory muscles, temporomandibular joints, ligaments and related tissue structures involved in masticatory movement in adults under normal conditions, and designs a control method and system for chewing robots, which belongs to the field of robotics. The specific design involves the robot control system based on the Cortex-M3 controller. Background technique [0002] Oral biomaterials and novel food development require evaluation of particle size, texture, chewiness, etc. At present, the evaluation of food or materials mainly adopts sensory evaluation method and instrumental evaluation method. The sensory evaluation method mainly relies on the subjective evaluation of tasting experts. Most of the mechanical compression tests are semi-empirical or simulated measurements, and the evaluation results are quite different from human perception, and cannot accurately ex...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/042
CPCG05B19/0426G05B2219/39417G05B2219/42047
Inventor 徐尚龙杨丽丽汤文杰李悦
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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