一种绳索驱动的仿下颌机构设计与分析  

Design and Analysis of a Cable-Driven Parallel Mechanism for Jaw Movement

作　　者：丛明[1] 任杰 秦文龙 刘冬[1] CONG Ming;REN Jie;QIN Wen-long;LIU Dong(School of Mechanical Engineering,Dalian University of Technology,Liaoning Dalian 116024,China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024

出　　处：《机械设计与制造》2021年第11期251-256,261,共7页Machinery Design & Manufacture

基　　金：国家科学自然基金资助项目(51575078)。

摘　　要：针对现有的仿下颌机器人仿生性不足,提出一种绳索驱动的仿下颌机构。首先,基于人体口颌系统冗余驱动特性、肌肉单向拉力的特性以及咀嚼肌附着点位置,进行仿下颌机构设计;该仿下颌机构采用6根绳索仿人体口颌系统的三组主要咀嚼肌(咬肌、颞肌和翼外肌),采用一对点接触高副仿人体口颌系统的颞下颌关节;然后,分析机构和推导运动学方程与雅克比矩阵;接着,为研究绳索的这种单向力特性与位形之间的关系,对该机构进行了力封闭空间分析;最后,在Adams中建立仿真模型,进行下颌功能运动(开闭运动、前后运动、侧方运动)的轨迹规划,分析绳索长度变化与人体咀嚼肌伸缩的相似性。Aiming at the lack of bionics of the existing mandibular robots,a cable-driven jaw mechanism is proposed.Firstly,based on the redundant driving characteristics of the orthognathic system,the characteristics of the muscle one-way pulling force and the position of the masticatory muscle attachment point,a mandibular mechanism was designed;The mechanism uses six ca⁃bles to imitate three main groups of masticatory muscles(masseter,temporalis and lateral pterygoid muscles),and uses higher ki⁃nematic pairs with point contact to imitate the temporomandibular joint of the human stomatognathic system.Then,the kinemat⁃ics equation and Jacobian matrix were deduced.In order to study the relationship between the one-way force characteristic and configuration of the mechanism,the wrench closure workspace of the mechanism was analyzed.Finally,the simulation model was established in Adams and the trajectory planning of the mandibular functional movement(open-close motion,front-back motion,lateral motion)were carried out to analyze the similarity between the changes of cable in length and the contraction of human masticatory muscles.

关 键 词：仿下颌机构 绳索驱动 运动学 力封闭空间 轨迹规划 

分 类 号：TH16[机械工程—机械制造及自动化] TH242