基于咀嚼特性的少自由度咀嚼机器人设计  

Design of Chewing Robot with Less Degrees of Freedom based on Chewing Characteristic

作　　者：吴范徐齐 许蔷[1] 刘生 顾明明 Wu-Fan Xuqi;Xu Qiang;Liu Sheng;Gu Mingming(School of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China)

机构地区：[1]南京林业大学机械电子工程学院

出　　处：《机械传动》2019年第8期52-58,共7页Journal of Mechanical Transmission

摘　　要：咀嚼机器人是一类能够模拟人类咀嚼行为的机器人,现有的咀嚼机器人大多是6自由度并联机构,而6自由度并联机构本身结构复杂、制造成本较高、控制困难。针对这一情况,从人类咀嚼运动可分为切碎和研磨两个阶段的特点出发,以3-UPS/RPP并联机构为原型设计了一种少自由度并联咀嚼机器人;在三维建模软件UG中建立了CAD模型,对其进行了相关的运动学分析;模拟人类咀嚼过程中的切碎和研磨,在虚拟样机分析软件Adams中进行了运动仿真。结果表明,咀嚼机器人可以实现对人类咀嚼性能的模拟。Chewing robot is a kind of robot which can simulate human chewing behavior. Most of the existing chewing robots are 6-DOF parallel mechanisms, but the six-degree-of-freedom parallel mechanism has complex structure, high manufacturing cost and difficult control. In view of this situation, the 3-UPS/RPP parallel mechanism is used as the prototype to design a kind of low freedom parallel chewing robot based on the characteristics that human chewing movement can be divided into two stages of chopping and grinding. Then the CAD model is established in the 3D modeling software UG, and related kinematics analysis is carried out. Subsequently, the motion simulation of chopping and grinding is carried out in the virtual prototype analysis software Adams. The results show that the chewing robot can simulate the human chewing performance.

关 键 词：咀嚼机器人 少自由度并联机构 运动学分析 运动仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]