机器人正畸弓丝弯制回弹机理及耦合动力学建模研究

固定矫治技术是目前常见且有效的错颌畸形治疗方法，其中正畸弓丝的弯制是固定矫治技术的关键部分。由于弓丝的超弹性、成形弓丝的形状复杂性和手工操作的不确定性，难以实现快速、精确的个性化正畸弓丝的弯制。.本项目提出采用机器人实现正畸弓丝弯制，利用机器人的位姿精确控制能力和刚性保持能力克服弓丝的超弹性实现弓丝弯制。利用回弹最小势能原理揭示不同材料正畸弓丝弯制回弹机理；提出有限点展成法建立成形弓丝弯制点关键参数优化理论模型；采用三阶轨迹规划研究机器人正畸弓丝弯制点对点的精密运动规划方法；利用Hamilton原理和Newton-Euler法建立机器人-弓丝的耦合动力学模型；完成正畸弓丝弯制机器人的设计和研制，搭建机器人弓丝弯制实验系统，开展仿真和实验研究。本项目对于提高个性化正畸弓丝弯制的精度、效率，推动口腔正畸医学的发展，具有重要理论意义和实际应用价值。

Fixed appliance technology is the most common and effective malocclusion orthodontic treatment method, and the key step of fixed appliance technology is the bending of orthodontic archwire. Because of archwire hyperelasticity, shape complexity of formed archwire and the uncertainty of manual operation, it is difficult to realize the personalized archwire bending..In this project, a robot is used to bend orthodontic archwire. Precise position and posture control ability and stiffness bolding ability of robot is used to overcome the archwire hyperelasticity. Springback mechanism of different material orthodontic archwire is revealed using the springback principle of minimum potential energy. The optimal theoretical model between the position and angel of bending point and the formed precision of orthodontic archwire is deduced using the finite point extension method. High accuracy point-to-point motion planning strategy for the bending of orthodontic archwire is studied using a third-order profile planning method. Rigid-flexible coupling dynamics of robot and orthodontic archwire is studied. Orthodontic wires bending robot is designed and developed based on TRIZ theory, and the robotic orthodontic wires bending experimental system is established, and simulation and experimental study is executed.This project is expected to give theoretical development and practical application to improve the bending accuracy and efficiency of personalized archwire and promote the development of orthodontics.