Small Denture Processing Robot Design And Micro-segment Corner Transition Research

In recent years, CAD/CAM technology has developed quickly and widely used in the field of dental restoration, which improves denture production’s quality and processing efficiency. Numerical controlled denture processing equipment is an important part of the dental CAD/CAM system, and especially the small chairside denture processing equipment is more and more popular. According to the requirement of the treatment room, this paper designs a small denture processing robot, and makes a kinematic and error analysis. According to the processing character, a research on micro-segment machining’s corner transition is made.Requirement analysis is the first step in the design of a small denture processing robot. According to the type of demand, the demand i s divided into five categories. Each kind of demand is a topological structure with many multi-level needs. There is also a certain relationship between different types of demand. A solution is made according to the relationship between the requirements. A multi-level hierarchical model of the small denture processing robot is established. Then, according to the model, Several small denture processing robot structure schemes are designed. By a comparation of them, a better one of them is choosen to make a structure design. What’s more, a ANSYS analysis of the base which is the most important load-bearing part is made to check the strength of it, which is the base for a structural optimization design.The quality and accuracy is an important standard to evaluate a denture processing equipment. So, this paper makes kinematics analysis and error modeling analysis based on the structure of the small denture processing robot. The kinematics analysis is carried out by using the D-H parameter method. And the D-H parameters of the structure are obtained by means of the coordinate system ’s build. In the error analysis and modeling, the factors that influence the small denture processing robot’s error are analyzed, and the error analysis and modeling methods are introduced. Perturbation method is choosen to build the error model and we also get the solution of the error model.The denture processing surfaces are always complex, so the small line segment is always used in it. This paper establishes a model with two quartic curve for the small line segment’s corner transiton. The boundary conditions of the corner transition curve are determined by the model. Then, the parameters are solved and a Matlab verification is made. When processing, the equipment always has a frequent start and stop, which is the reasion for the flexible impact and vibration. So a research on the speed control which is based on the S curve is made, and a speed control model based on seven section S curve is established.