2002 Fiscal Year Final Research Report Summary
Development of Mastication Robot Using Parallel Mechanism
| Project/Area Number |
12671878
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
補綴理工系歯学
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| Research Institution | KYOTO UNIVERSITY |
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Principal Investigator |
TSUTSUMI Sadami Institute for Frontier Medical Science, Professor, 再生医科学研究所, 教授 (00028739)
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| Co-Investigator(Kenkyū-buntansha) |
NAMBU Toshiyuki SHOFU Inc., Senior Researcher, 主席研究員(研究職)
YOKOKOHJI Yasuyoshi Dept. of Mechanical Engineering, Associate Professor, 工学研究科, 助教授 (30202394)
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| Project Period (FY) |
2000 – 2002
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| Keywords | Jaw robot / Parallel mechanism / 6-DOF movements / Direct kinematics / Inverse Kinematics / numerical analysis / Jaw movement / temporomandibular arthosis |
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| Research Abstract |
Aiming to reprodyce the jaw movement of human being, we have developed a novel gnathodynamic simulator, or a jaw robot, employing 6-DOF (degree-of-freedom) parallel mechanism. A pair of dental stone models from a patient mounted each on the fixed and moving stages was controlled the movement in 3-D space according to the obtained data by a jaw movement measuring device. The results were as follows:
1. A prototype of our jaw robot consisted of six linear-action type stepping motors (three of them are sliders and 3 are cylinders) was developed.
2 . In order to solve the forward problem of kinematics for the jaw robot with parallel mechanism in numerical analysis, we tried to improve the Newton-Raphson (N-R) method for the nonlinear analysis. With this modified N-R method, the solution could be converged quickly enough for the real time control of the jaw robot.
3. In order to reconstruct the jaw motion on the robot, the algorithm of numerical analysis for the inverse kinematics problem of parallel mechanism was developed. This program could figure out the control data of six stepping motors of our jaw robot from the data which were obtained by the digital jaw movement measuring device.
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