窝洞制备混联机构工作空间分析及操作策略  

Workspace Analysis and Operation Strategy Research of Anhybrid Mechanism for Cavity Preparation

作　　者：冯源 范佳程 梁庆华[1] 王石刚[1] 莫锦秋[1] FENG Yuan;FAN Jiacheng;LIANG Qinghua;WANG Shigang;MO Jinqiu(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械设计与研究》2022年第1期109-113,共5页Machine Design And Research

基　　金：国家重点研发计划资助项目(2017YFB1302901)。

摘　　要：窝洞制备是口腔植牙的重要环节,其操作具有作业空间小、定位及制备精度高等特点,尤其对于机器人辅助窝洞制备中机器人的作业姿态、操作稳定性等提出较高要求。论文提出了一种基于混联机构的口腔植牙机器人系统,并建立运动学正解模型,对机构的工作空间展开分析;面向窝洞制备操作需求,建立以最小化Stewart平台的关节运动为目标的优化模型,对窝洞制备的操作策略展开分析研究.通过模型实验,对操作策略的有效性、机构系统作业精度等展开验证及实验研究。Cavity preparation is an important part of dental implant,whose operation has the characteristics of small operation space,high positioning and preparation accuracy.These features present high requirements for the operation posture and stability in robot-assisted cavity preparation.In this paper,a dental implant robot system based on hybrid mechanism is proposed,and the forward kinematics model is established to analyze the workspace of the mechanism.To meet the operation requirements of cavity preparation,an optimization model was established to minimize tfie joint motion of Stewart platfomi and the operation strategy of cavity preparation was analyzed.Through a phantom experiment,the effectiveness of the operation strategy and the operation accuracy of the mechanism system are verified and studied.

关 键 词：窝洞制备 混联机构 工作空间分析 Stewart并联平台 操作策略 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]