Development of Mastication Robot Using Parallel Mechanism

并联机构咀嚼机器人的研制

• 批准号: 12671878
• 负责人: TSUTSUMI Sadami
• 金额: $ 2.18万
• 依托单位: KYOTO UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2000
• 资助国家: 日本
• 起止时间: 2000 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-12671878/
• 关键词: Jaw robot; Parallel mechanism; 6-DOF movements; Direct kinematics; Inverse Kinematics; numerical analysis; Jaw movement; temporomandibular arthosis

Aiming to reprodyce the jaw movement of human being, we have developed a novel gnathodynamic simulator, or a jaw robot, employing 6-DOF (degree-of-freedom) parallel mechanism. A pair of dental stone models from a patient mounted each on the fixed and moving stages was controlled the movement in 3-D space according to the obtained data by a jaw movement measuring device. The results were as follows:1. A prototype of our jaw robot consisted of six linear-action type stepping motors (three of them are sliders and 3 are cylinders) was developed.2 . In order to solve the forward problem of kinematics for the jaw robot with parallel mechanism in numerical analysis, we tried to improve the Newton-Raphson (N-R) method for the nonlinear analysis. With this modified N-R method, the solution could be converged quickly enough for the real time control of the jaw robot.3. In order to reconstruct the jaw motion on the robot, the algorithm of numerical analysis for the inverse kinematics problem of parallel mechanism was developed. This program could figure out the control data of six stepping motors of our jaw robot from the data which were obtained by the digital jaw movement measuring device.

为了再现人类颌骨的运动，我们研制了一种新型的下颌动力学模拟器，或颌骨机器人，采用6自由度（度的自由度）并联机构。将一对分别安装在固定台和移动台上的来自患者的牙结石模型根据由颌运动测量装置获得的数据控制在3-D空间中的运动。结果如下：1.研制了一台由六个直线运动式步进电机（三个为滑块，三个为气缸）组成的颚式机器人样机.为了解决并联机构颚式机器人运动学正问题的数值分析，尝试改进非线性分析的牛顿-拉夫逊（N-R）法。采用改进的N-R方法，可以快速收敛解，满足颚式机器人的真实的实时控制要求.为了重构机器人的颌部运动，提出了并联机构运动学逆问题的数值分析算法。该程序可以根据数字式下颌运动测量装置获得的数据计算出下颌机器人六个步进电机的控制数据。

项目成果

Sadami TSUTSUMl, Ryusuke NAKAI: "The simulation of adaptive bone remodeling on maxillofacial bone caused by occlusal forces"J. Japan. Soc. Clin. Biomechanics. 22. 369-373 (2001)

Sadami TSUTSUMl，Ryusuke NAKAI：“咬合力引起的颌面骨自适应骨重塑的模拟”J。

堤 定美, 東 高志: "Scienceヒトはどこまでデザインできるか-シミュレーションモデル歯科医工学の世界第17回シミュレーション医工学としての最新MRI(核磁気共鳴撮像法)-軟組織の動き・状態を連続動画で観察"歯科技工. 29(7). 866-868 (2001)

堤见定、东隆：《科学人类可以被设计到什么程度？ - 模拟模型牙科工程的世界第 17 次模拟最新的 MRI（核磁共振成像）作为医学工程 - 软组织运动和状况的连续视频观察》牙科技术。29（7）。866-868（2001）。

Sadami TSUTSUMI, Manabu KUTSUKl: "A 3-D remodeling simulation of symmetry of maxillofacial morphology"J. Japan. Soc. Clin. Biomechanics. 22. 375-380 (2001)

Sadami TSUTSUMI、Manabu KUTSUKl：“颌面形态对称性的 3-D 重塑模拟”J。

堤 定美, 吉田 宏昭: "Science ヒトはどこまでデザインできるか-シミュレーションモデル歯科医工学の世界第2回「咬合と脊椎症」および「姿整と腰痛」のシミュレーション"歯科技工. 29(2). 182-184 (2001)

Sadami Tsutsumi、Hiroaki Yoshida：“科学：人类可以被设计到什么程度？ - 模拟模型牙科工程世界第二届‘咬合和脊椎病’和‘姿势调整和腰痛’的模拟”牙科技术 29( 2）182-184（2001）。

Tsutsumi.S: "Information Technology for Prosthontics"Proc. 9^<th> International College of Prosthontics at Sydney. 8-9 (2001)

Tsutsumi.S：“假肢信息技术”Proc。