咀嚼机器人颞下颌关节仿生设计及试验测试
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摘要
为再现口颌系统的下颌运动,并提高咀嚼机器人的仿生度,引入了一种含有点接触高副的冗余驱动并联咀嚼机器人。采用医学测量的方法进行颞下颌关节结构的分析,完成咀嚼机器人点接触高副结构的仿生设计。基于双侧联动高副的约束关系,完成了颞下颌关节运动关系分析及运动学建模。对多位受测者下颌运动进行测量,获得人类开闭口运动的轨迹、最大速度和频率等参数。对咀嚼机器人开闭口运动和下颌受力进行了试验测试,验证了咀嚼机器人性能可以满足义齿磨损疲劳性能测试所需要的下颌运动和咀嚼力。
For the purpose of reproducing human mandibular movement, and improving the bio-imitability of masticatory robot, a redundantly actuated parallel masticatory robot with point contact Higher Kinematic Pair(HKP) is introduced. The medical measurement method for analysis of Temporomandibular Joint(TMJ)structure is utilized and the bionic design of point contact higher kinematic pair of the masticatory robot is achieved. The bilateral correlated movement of the TMJ is analyzed and kinematic model is established based on the higher kinematic pair constraints. The trajectories, maximum velocities, frequencies of mandibular opening-closing movement are obtained by measuring several experimental subjects. The opening-closing movement experiment and force experiment are carried out on the masticatory robot prototype. The results show that the robot is able to achieve functionality of mandible movements and chewing forces which are required by denture wear fatigue behavior analysis.
For the purpose of reproducing human mandibular movement, and improving the bio-imitability of masticatory robot, a redundantly actuated parallel masticatory robot with point contact Higher Kinematic Pair(HKP) is introduced. The medical measurement method for analysis of Temporomandibular Joint(TMJ)structure is utilized and the bionic design of point contact higher kinematic pair of the masticatory robot is achieved. The bilateral correlated movement of the TMJ is analyzed and kinematic model is established based on the higher kinematic pair constraints. The trajectories, maximum velocities, frequencies of mandibular opening-closing movement are obtained by measuring several experimental subjects. The opening-closing movement experiment and force experiment are carried out on the masticatory robot prototype. The results show that the robot is able to achieve functionality of mandible movements and chewing forces which are required by denture wear fatigue behavior analysis.
引文
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[17] Alemzadeh K, Raabe D. Prototyping artificial jaws for the Bristol Dento-Munch Robo-Simulator'a paral-lel robot to test dental components and materials'[C]∥Proceedings of 29th Annual International Conference of the IEEE Engineering in Medicine and Biology So-ciety, Lyon, France,2007:1453-1456.
[18] Okino A, Inoue T, Takanobu H, et al. A clinical jaw movement training robot for lateral movement training. In Robotics and Automation[C]∥Proceed-ings of 20th IEEE International Conference on Robot-ics and Automation, Taipei, China, 2003:244-249.
[19] Takanobu H, Takanishi A, Ozawa D, et al. Integrat-ed dental robot system for mouth opening and closing training[C]∥Proceedings of 19th IEEE International Conference on Robotics and Automation, Washing-ton, USA, 2002:1428-1433.
[20] Bowey C, Burgess D. Robotic temporomandibular joint[R]. Australia:University of Adelaide,2005.
[21] Hayashi T, Tanaka S, Nakajima S, et al. Control mechanism of an autonomous jaw-movement simula-tor, JSN/1C, during open-close movement[C]∥Pro-ceedings of the 18th Annual International Conference of the IEEE Engineering in Medicine and Biology So-ciety,Amsterdam,Holland, 1996:613-614.
[22] Anderson D J. Measurements of stress in mastication[J]. Journal of Dental Research, 1956,41:175-189.
[23] Gibbs C H, Mahan P E, Lundeen H E. Occlusal forces during chewing-influences of biting strength and food consistency[J]. Journal of Prosthetic Dentist-ry,1981,46:561-567.
[2]祁若龙,张伟,王铁军,等.仿人头颈部机器人跟踪运动控制[J].吉林大学学报:工学版, 2016, 46(5):1595-1601.Qi Ruo-long, Zhang Wei, Wang Tie-jun, et al.Tracking motion control method of humanoid head and neck robot[J]. Journal of Jilin University(Engi-neering and Technology Edition), 2016, 46(5):1595-1601.
[3]曹福成,邢笑雪,李元春,等.下肢康复机器人轨迹自适应滑模阻抗控制[J].吉林大学学报:工学版,2016,46(5):1602-1608.Cao Fu-cheng, Xing Xiao-xue, Li Yuan-chun, et al.Adaptive trajectory sliding mode impedance control for lower limb rehabilitation robot[J]. Journal of Jilin University(Engineering and Technology Edition),2016,46(5):1602-1608.
[4]刘少刚,郭云龙,贾鹤鸣.基于直线特征提取匹配搜救机器人的同步定位与地图构建[J].吉林大学学报:工学版,2013,43(4):1035-1044.Liu Shao-gang, Guo Yun-long, Jia He-ming. Rescue robot simultaneous localization and mapping based on extraction and matching of line features[J]. Journal of Jilin University(Engineering and Technology Edition),2013,43(4):1035-1044.
[5] Xu W, Bronlund J E. Mastication Robots[M]. Berlin:Springer,2010.
[6] Wen H Y, Xu W L, Cong M. Kinematic model and analysis of an actuation redundant parallel robot with higher kinematic pairs for jaw movement[J]. IEEE Transactions on Industrial Electronics, 2015, 62(3):1590-1598.
[7] Wang L, Sadler J, Breeding L, et al. An in vitro study of implant-tooth-supported connections using a robot test system[J]. Journal of Biomechanical Engi-neering,1999,121(3):290-297.
[8]温海营,丛明,王贵飞,等.冗余驱动仿下颌运动机器人工作空间分析及试验验证[J].机器人,2015,37(3):286-297.Wen Hai-ying, Cong Ming, Wang Gui-fei, et al.Workspace analysis and experimental verification of a redundantly actuated jaw movement robot[J]. Robot,2015,37(3):286-297.
[9] Celebi N, Rohner E C, Gateno J, et al. Develop-ment of a mandibular motion simulator for total joint replacement[J]. Journal of Oral and Maxillofacial Sur-gery,2011,69(1):66-79.
[10] Wang G, Cong M, Xu W, et al. A biomimetic chew-ing robot of redundantly actuated parallel mechanism[J]. Industrial Robot:An International Journal,2015,42(2):103-109.
[11] Wen H Y, Cong M, Wang G F. Experimental verifi-cation of workspace and mouth-opening movement of a redundantly actuated humanoid chewing robot[J].Industrial Robot:An International Journal, 2015, 42(5):406-415.
[12] Xu W L, Lewis D, Bronlund J E, et al. Mechanism,design and motion control of a linkage chewing device for food evaluation[J]. Mechanism and Machine The-ory,2008,43(3):376-389.
[13] Xu W L, Pap J S, Bronlund J. Design of a biological-ly inspired parallel robot for foods chewing[J]. IEEE Transactions on Industrial Electronics, 2008, 55(2):832-841.
[14]孙钟雷,孙永海,万鹏,等.仿生咀嚼装置设计与试验[J].农业机械学报,2011,42(8):214-218.Sun Zhong-lei, Sun Yong-hai, Wan Peng, et al. De-sign and experiment on bionic chewing equipment[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(8):214-218.
[15] Yu J H, Li X F, Zhou H, et al. Research on work-space of masticatory bionic robot based on the 3/3-RRRS parallel manipulator[J]. Advanced Materials Research,2013,655:1092-1095.
[16]王倩竹.咀嚼模拟机器人设计与分析[D].长春:吉林大学生物与农业工程学院,2014.Wang Qian-zhu. Design and analysis of a food masti-cation robot[D]. Changchun:College of Biological and Agricultural Engineering,Jilin University,2014.
[17] Alemzadeh K, Raabe D. Prototyping artificial jaws for the Bristol Dento-Munch Robo-Simulator'a paral-lel robot to test dental components and materials'[C]∥Proceedings of 29th Annual International Conference of the IEEE Engineering in Medicine and Biology So-ciety, Lyon, France,2007:1453-1456.
[18] Okino A, Inoue T, Takanobu H, et al. A clinical jaw movement training robot for lateral movement training. In Robotics and Automation[C]∥Proceed-ings of 20th IEEE International Conference on Robot-ics and Automation, Taipei, China, 2003:244-249.
[19] Takanobu H, Takanishi A, Ozawa D, et al. Integrat-ed dental robot system for mouth opening and closing training[C]∥Proceedings of 19th IEEE International Conference on Robotics and Automation, Washing-ton, USA, 2002:1428-1433.
[20] Bowey C, Burgess D. Robotic temporomandibular joint[R]. Australia:University of Adelaide,2005.
[21] Hayashi T, Tanaka S, Nakajima S, et al. Control mechanism of an autonomous jaw-movement simula-tor, JSN/1C, during open-close movement[C]∥Pro-ceedings of the 18th Annual International Conference of the IEEE Engineering in Medicine and Biology So-ciety,Amsterdam,Holland, 1996:613-614.
[22] Anderson D J. Measurements of stress in mastication[J]. Journal of Dental Research, 1956,41:175-189.
[23] Gibbs C H, Mahan P E, Lundeen H E. Occlusal forces during chewing-influences of biting strength and food consistency[J]. Journal of Prosthetic Dentist-ry,1981,46:561-567.