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仿生下颌机器人是可以模拟人类下颌运动行为的机器人,在食品科学、生物力学、牙科学等领域具有广泛的应用前景。人类下颌系统驱动肌肉不对称、生物力方向不同,实现其运动的仿生机构较为复杂。根据机械仿生原理,首先建立基于6-PSS并联机构的仿生下颌机器人模型。运用Matlab软件,根据并联机构位置逆解求得其空间位置逆解,并利用UG三维软件进行仿真,以验证机构设计的可行性。其次,根据人类生物特性,对仿生下颌机器人的工作空间进行分析,并以球副转角、驱动杆干涉作为约束条件,对机构进行结构优化。
Bionic mandibular robot is a robot that can simulate human mandibular movement and has a wide range of applications in food science, biomechanics, dentistry and other fields. Human mandibular system-driven muscle asymmetry, biological force in different directions to achieve its movement of the biomimetic mechanism is more complicated. According to the principle of mechanical bionics, a bionic mandibular robot model based on 6-PSS parallel mechanism is established first. The Matlab software was used to find the inverse of the spatial position of the parallel mechanism based on its inverse solution. The simulation was carried out by UG three-dimensional software to verify the feasibility of the mechanism design. Secondly, according to the biological characteristics of human beings, the working space of bionic mandibular robot is analyzed, and the structure optimization of mechanism is carried out with the constraint of the rotation angle of ball and driving rod.