| Human jaws are called edentulous jaws when all teeth have been lost, and need to replaced by full dentures. The traditional way of full denture manufacturing is manual with low efficiency and high rejection, but quantitative tooth arrangement can realize perfect quality and high efficiency by using a robot manufacturing system with Computer Aided Design. The development of robot manufacturing system for full denture is a new attempt of robot technology in oral cavity repairing.This paper introduce the related knowledge on the full denture manufacturing in oral cavity repairing, list out the model of mathematical description of jaw arc curve and tooth arc curve, that is: the power function and Beta equation, and choose the former as the model in the process of calculation. According to the analysis of some medical statistical data, reduce the DOF of mechanism which using to realize the tooth position and orientation to 5.The rotation mechanism and moving mechanism based on idea of modularization have been designed, and mention the method which can fit the curve of tooth arc to realize distortion of the spring plate using 5 points, choose the fitting error as the objective function, accomplish the optimal design on the account and position of fitting point using MATLAB software, ascertain the optimal value as a conclusion.In order to carry out kinematic calculation of the robot, the parametric equation after the distortion of spring plate has been founded firstly, and deduced the expressions of the reversed operation of each joint according to the kinematic analysis of the mechanism. The path control have been done by the method of continuous path control, and obtain each path point's coordinate between the begin point and the target point by linear interpolate algorithm, finally work out the step motor's revolve angle. By this way, to realize step motor's movementcoiTelatively seems more efficient and reasonable, this can implement the control of joint's action more available, decrease the system error as much as possible, finally achieve the purpose that the arranged full denture can reach people's requirement.The research of this project is a realization that extend robot technique from traditional industry field to medicine field, not only according with the developmental trend of medical robot and achieve the social requirement, but also accelerate the development of robot technique and the technology of full denture manufacturing in oral cavity repairing, so this project has good social effect and result. |
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