吉林大学学报(工学版) ›› 2019, Vol. 49 ›› Issue (3): 943-952.doi: 10.13229/j.cnki.jdxbgxb20180081

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咀嚼机器人颞下颌关节仿生设计及试验测试

温海营1(),任翔2(),徐卫良3,丛明4,秦文龙4,胡书海2   

  1. 1. 大连理工大学 控制科学与工程学院，辽宁 大连 116024
    2. 大连医科大学 口腔医学院，辽宁 大连 116044
    3. 新西兰奥克兰大学 机械工程系，奥克兰 1142
    4. 大连理工大学 机械工程学院，辽宁 大连 116024
  • 收稿日期:2018-01-23 出版日期:2019-05-01 发布日期:2019-07-12
  • 通讯作者: 任翔 E-mail:wenhaiying@gmail.com;renxiangdy@foxmail.com
  • 作者简介:温海营(1987?)，男，讲师，博士. 研究方向：仿生机器人，并联机器人. E?mail:wenhaiying@gmail.com
  • 基金资助:
    中国博士后科学基金项目(2016M601301)

Bionic design and experimental test of temporomandibular joint for masticatory robot

Hai⁃ying WEN1(),Xiang REN2(),Wei⁃liang XU3,Ming CONG4,Wen⁃long QIN4,Shu⁃hai HU2   

  1. 1. School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China
    2. College of Stomatology, Dalian Medical University, Dalian 116044, China
    3. Department of Mechanical Engineering, The University of Auckland, Auckland 1142, New Zealand
    4. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China
  • Received:2018-01-23 Online:2019-05-01 Published:2019-07-12
  • Contact: Xiang REN E-mail:wenhaiying@gmail.com;renxiangdy@foxmail.com

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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。

关键词: 自动控制技术, 咀嚼机器人, 冗余驱动, 颞下颌关节, 下颌运动, 咬合力

Abstract:

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.

Key words: automatic control technology, masticatory robot, redundant actuation, temporomandibular joint(TMJ), mandibular movement, chewing force

中图分类号: 

  • TP29

图1

口颌系统结构"

图2

点接触高副简化结构"

图3

机构原理图"

图4

咀嚼机器人三维图"

图5

口颌系统CT扫描图"

图6

颞骨关节面特征点坐标提取"

图7

四位受测者拟合的颞骨关节面曲线"

图8

点接触高副结构"

图9

颞下颌关节双侧联动简图和坐标系"

图10

测量的下颌运动轨迹和速度"

图11

咀嚼机器人样机"

图12

控制系统框图"

图13

各驱动电机的转速和转矩"

图14

下颌烤瓷冠与薄膜压力传感器"

图15

咀嚼机器人运动轨迹"

图16

测量的咬合力"

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