Motion Planning for Archwire Bending Robot in Orthodontic Treatments
Motion Planning for Archwire Bending Robot in Orthodontic Treatments
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DOI：
10.14257/ijca.2014.7.7.24
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发表时间：
2014-07
期刊：
影响因子：
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通讯作者：
Zhang Yongde;Wei Chunge;Jiang Jingang;Jiang Jixiong;Liu Yi;Wang Yong
中科院分区：
文献类型：
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作者：
Zhang Yongde;Wei Chunge;Jiang Jingang;Jiang Jixiong;Liu Yi;Wang Yong
提出了一种弯弓机器人在正畸治疗中的运动规划方法。由于拱线弯曲机器人的运动属于典型的点对点混合运动，既有长距离的，也有短距离的，因此传统的加减速(acc/dec)方法不适合这种运动方式。为了提高拱线弯曲过程的稳定性，减轻拱线弯曲过程中的冲击和振动，建立了基于三阶纯S曲线、五段曲线和修正曲线的运动规划方法，提出了基于三阶纯S曲线、五段曲线和修正曲线位移的分段自调整运动规划策略。分析了acc/dec方法对拱线弯曲过程的影响，并通过matlab仿真对所提出的方法进行了验证。通过MatLab仿真实现了运动规划的有效性。
This paper presents a motion planning method for archwire bending robot in orthodontic treatments. Because the movement of the archwire bending robot belongs to typical hybrid point-to-point movement, which has both long and short distance, thus the traditional acceleration/deceleration (acc/dec) method is not suitable for this mode of motion. In order to improve the stability and relief the impact and vibration in the process of archwire bending, a new motion planning method that based on three-order pure S acc/dec curve, 5 segments acc/dec curve, and modified acc/dec curve is established and a piecewise self-adjustment acc/dec strategy that based on displacements of three-order pure S acc/dec curve, 5 segments acc/dec curve, and modified acc/dec curve is proposed. The effect of acc/dec methods on the process of archwire bending is analyzed, and verification of the proposed method is conducted through MATLAB simulation. The MATLAB simulation realized validity of the motion planning.