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Rope-driven parallel bionic stomatognathic robot with higher pair constraints

A rope-driven, bionic mouth technology, applied in the field of bionic robots, to solve the swing problem, reduce weight, and achieve good bionic effects

Active Publication Date: 2021-01-08
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The UPS rope-driven branch chain adopts a linear motion unit, so that the power unit (motor, etc.) can be placed outside the branch chain, which reduces the weight of the traditional linear drive mechanism and makes the structure more compact, which solves the problem caused by the simulation of muscle expansion and contraction of the existing bionic mouth and jaw robot. swing problem

Method used

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  • Rope-driven parallel bionic stomatognathic robot with higher pair constraints
  • Rope-driven parallel bionic stomatognathic robot with higher pair constraints
  • Rope-driven parallel bionic stomatognathic robot with higher pair constraints

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Embodiment Construction

[0034] The specific embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0035] Such as figure 1 and figure 2 As shown, the high pair constrained rope-driven parallel bionic mouth and jaw robot of this embodiment includes:

[0036] The maxillary static platform 8 is connected to the fixedly installed articular surface mounting plate 10 through an intermediate connector 13;

[0037] The mandibular dynamic platform 9 is located below the upper jaw static platform 8, and the two sides of the mandibular dynamic platform 9 are symmetrically provided with mandibular side plates 14;

[0038] And three sets of UPS rope-driven branch chains, three sets of UPS rope-driven branch chains are located around the mandibular dynamic platform 9 and the maxillary static platform 8, and are used to simulate the three groups of muscles of the human temporalis, masseter and lateral pterygoid muscles respectively. The UPS rope-driven bran...

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Abstract

The invention discloses a rope-driven parallel bionic stomatognathic robot with higher pair constraints. By researching the physiological structure and redundant drive characteristics of the human stomatognathic system, including mandibular muscles, bones, temporomandibular joints and the like, and comprehensively considering the characteristics of chewing muscles and the temporomandibular joints,a rope-driven spatial redundant drive parallel mechanism with higher pair constraints is designed. Six UPS rope-driven branched chains simulate six muscles, which play a main role, of the stomatognathic system, and the six muscles are left and right masseter muscles, temporal muscle and lateral pterygoid muscle respectively. Two point contact higher pairs represent the temporomandibular joints, the structure is in bilateral symmetry, and the bionic degree is high. The UPS rope-driven branched chains do not swing in a moving process, so that the problem that force action lines are inconsistenteasily when the muscles are simulated by other driving mechanisms is solved. Meanwhile, motors are placed outside the branched chains, so that the weight and size of a linear driving mechanism are reduced. The robot has a good application prospect in the disciplines of dental science, food science, biomechanics, prosthetic restoration and the like.

Description

technical field [0001] The invention relates to the field of bionic robots, in particular to a high-pair constraint rope-driven parallel bionic mouth-jaw robot. Background technique [0002] The bionic mouth and jaw robot can not only simulate the movement of the mandible and temporomandibular joint, but also reproduce the occlusal force of the teeth and the force of the temporomandibular joint, and can quantitatively test the prosthesis material through in vitro simulation. Therefore, the bionic mouth and jaw robot is becoming more and more More and more are used in performance testing of new materials, newly designed dentures and temporomandibular joint prostheses. In the design and research of bionic oral and jaw robots, corresponding mechanisms are used to complete the required functions for their respective application fields. However, there are still certain bionic defects in the mechanism, as follows: [0003] Due to the fact that the driving and transmission system ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F2/46A61C19/00G01M99/00
CPCA61F2/468G01M99/008A61C19/00
Inventor 温海营于继勇张志胜戴敏
Owner SOUTHEAST UNIV
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