摘要
机器人是一种机电一体化的复杂动态系统,随着现代化工业的发展,机器人在工业中的使用也日渐成熟,而机器人在医疗领域的应用是目前机器人研究的热点课题之一。这也将改变传统医疗的许多概念,并对相关学科的发展产生积极的推动作用。本课题所研究的弓丝弯制机器人是用于医学中口腔医学领域口腔正畸学分支的是专用机器人。其目的是研制一套完整的机器人系统进行矫正弓丝的弯制来代传统的手工弯制方法。使用机器人进行矫正弓丝的弯制,可以提高弓丝弯制的精度同时缩短弯制时间。如果研制出成型的弯制系统并使机器人得到广泛的使用,可以在很大程度上降低口腔医生的劳动量并提高口腔医学临床自动化的程度。
本课题首先设计了弓丝弯制机器人整个系统的总体方案,对系统功能结构进行了阐述,并对系统试验平台MOTOMAN UP6机器人进行了运动学分析,为机器人进行弓丝弯制运动控制软件的开发提供了理论依据;其次进行了弓丝弯制末端夹持器的机构设计以及末端夹持器驱动方式选择;再次根据矫正弓丝的实际形状,结合MOTOMAN UP6机器人的运动方式进行了弓丝弯制机器人在进行弓丝弯制作业时的运动轨迹规划。根据实际需要阐述了整个系统在软件上要实现的功能,详细介绍了上位机软件的设计过程和各功能模块,完成了对弓丝弯制机器人控制软件的阶段性开发和对全系统操作与控制的原理验证。最后进行了标准牙弓曲线形矫正弓丝的弯制实验,并对误差产生的原因进行了分析。
实验对y = 0.005x2.8型的牙弓曲线形弓丝进行弯制,在设定允许偏差的情况下合理的分布弯制结点,弯制成型后与标准的指数函数型曲线进行了对比,得到了较为理想的弓丝形态。结果表明整个系统总体方案以及运动控制方案是合理、可行的。
Robot is a mechanical and electrical integration system. With development of the robot in industry the application of robotics in the medical field has become a hot topic. This trend will change many concepts of traditional medicine and related disciplines will have a positive development. The archwire bending robot researched is a kind of special robot which provides services for orthodontics. The robot takes place the traditional manual method to finish the archwire bending. It will significantly improve the accuracy of archwire and efficiency of bending. The amount of oral doctor’s labor will be reduced if the archwire bending robots can be widely used and the degree of clinical oral medicine automation will be improved.
Firstly the whole general scheme of the arch wire bending robot system is designed in this paper. Then the function of the system is elaborated and the analysis of MOTOMAN UP6 robot kinematics is studied as the theoretical of the motion control software. Then the archwire bending gripper mechanism is designed and the drive mode is selected. After these two steps, the trajectory planning is studied with combination of MOTOMAN UP6 robot’s movement pattern. The entire system software function is described according to actual needs that the robot must achieve. Following that the function modules host computer software are introduced in details. This subject has completed the phased development of archwire bending robot control software and verified system-wide operation and control principle. Finally, the archwire bending experiment is done to make the standard corrective archwire and analyzes the cause of the errors.
The archwire was bended on some certain control points with the function of y = 0.005x2.8under a specified maximum deviation. It showed that the archwire had a good accuracy after compared with the standard exponential function curve. As a result, the whole system as well as motion control program is reasonable and feasible.
引文
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