Kinematic Analysis of Tooth-Arrangement Robot with Serial-Parallel Joints

摘要：

Based on the characteristics of serial joints and parallel joints,we put forward a tooth-arrangement robot composed of a kind of 5 degrees of freedom mechanism of serial structure and parallel structure.Through the analysis of the tooth-arrangement robot mechanism,the equation of kinematics has been built.We analyze the question of inverse kinematics and deduce the matrix of position and gesture of each joint by using analytic method.Finally,we take down-left tooth as an example, on the condition of knowing the equation of dental arch curve and the parameters of single tooth in the coordinate system,and the matrix of position and gesture of each joint has been solved. The result shows that the arithmetic is reasonable and efficient and partly solve the problem of teeth arrangement robot kinematics.

作者: Yongde Zhang Junwei Ma Yanjiang Zhao Peijun L Yong Wang

作者单位: School of Mechanical &Power Engineering Harbin University of Science and Technology Harbin,Heilongji School and Hospital of Stomatology Peking University Beijing,China

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 624-628

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）