牙齿咬合是涉及口腔医学诸多分支学科的共性内容，对咬合的研究可以为探索咬合疾病的发生机制、进行治疗设计和评价治疗效果等提供新的手段，本研究利用并联机器人运动精度高、体积小、刚度强、速度快的优点模拟咬合运动过程，突破咬合运动的生物力学参数（咬合运动模式和牙齿咬合力）采集、并联机器人机构设计、机器人咬合动态分析与力控制以及机器人模拟咬合准确度评价4项关键技术，实现上下颌牙齿咬合接触全过程的运动形式和力学特征的体外机器人复现，满足口腔医学临床和科研对精度模拟咬合过程的需求。

Researches on teeth articulation are involved into a wealth of branches in stomatology. If articulating process can be precisely emulated in vitro by machines, they may furnish a novel approach to study pathogenic mechanism of occlusal diseases, to design treatment plans, to evaluate treatment effects, and so on. In comparison to its serial counterparts, parallel robots have many advantages, such as good positioning accuracy, small footprint, high stiffness, and quick motion. So, parallel type of robots is adapted to emulate the articulation process. In our research, we shall make a breakthrough on four key techniques: Acquiring biomechanical parameters of articulation process (articulation motion patterns and forces), mechanical design of parallel robot, dynamical analysis and force control of articulating robot as well as accuracy evaluation of robot emulation, and shall authentically reproduce in vitro motion patterns and force characteristics in overall phases of teeth contact between upper and lower jaws. The achievements of our project can provide a precise emulation of articulating process which satisfies needs of both clinic and research works in stomatology.