包含串并联关节的排牙机器人运动学分析  

Kinematic Analysis of a Tooth-arrangement Robot with Serial-parallel Joints

作　　者：张永德[1] 马俊伟[1] 赵燕江[1] 杜鹃[1] 

机构地区：[1]哈尔滨理工大学机械动力工程学院,哈尔滨150080

出　　处：《机械科学与技术》2008年第8期981-985,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金(50675054)资助

摘　　要：针对串联关节和并联关节各自的特点,提出了一种由5自由度串联机构和并联机构组成的排牙机器人,通过对排牙机器人机构的分析,建立了其运动学方程。对运动学逆问题进行了分析并且应用解析法和矩阵法推导出各个关节的位姿矩阵,在已知患者的牙弓曲线和各散牙的末端位姿时,便可通过以上算法求得各个关节的位置和姿态。最后以下左牙为算例,对各个关节的位姿矩阵进行了求解。结果表明:本文提出的算法合理有效,解决了排牙机器人部分运动学问题。Based on the characteristics of serial joints and parallel joints, we present a tooth-arrangement robot with a five degree of freedom mechanism of serial structure and parallel structure. By analyzing the tooth-arrangement robot mechanism, the equation of kinematics is built. We study its inverse kinematics and deduce the matrix of position and gesture of each joint by using analytic method. When the equation of tooth arch curve and the parameters of each tooth are known in the coordinate system, the matrix of position and gesture of each joint can be determined. Finally, we take the down-left tooth as an example ; satisfactory results are obtained, showing that the arithmetic is reasonable and efficient and can partly solve the problem of tooth arrangement robot kinematics.

关 键 词：串并联关节 排牙机器人 机器人运动学 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]