CHEWING-CYCLE TRAJECTORY PLANNING FOR A DENTAL TESTING CHEWING ROBOT

Guifei Wang, Ming Cong, Xiang Ren, Haiying Wen, Wenlong Qin

Keywords

Chewing-cycle, Chewing robot, Kinematics, Trajectory planning, Dental testing

Abstract

This paper aims to propose a chewing-cycle trajectory planning method for a dental testing chewing robot on basis of literature data on human chewing movements and kinematics of biomimetic temporomandibular joints in application of in vitro dental material testing. According to biomechanics of human mastication, the kinematics of dental testing chewing robot was deduced. With reference to literature findings that a typical chewing cycle can be defined by a set of parameters in terms of displacements and velocities, a whole typical chewing cycle was divided into two parts and both were planned by means of polynomial fitting of generalized coordinates at critical points. Wear-resisting testing experiments of Co-Gr alloy crown and Co-Gr alloy ceramic crown were carried out to verify the bio-imitability of the chewing-cycle trajectory planning method. Trajectory planning results indicate that characteristics of robotic mandible motions conform to human counterpart. In addition, micromorphologic analysis of the occlusal surfaces demonstrate that the dental testing chewing robot has a good quality of occlusion. Implementing the proposed chewing-cycle trajectory planning method, the dental testing chewing robot could be used as an effective tool for in vitro testing of the dental materials.

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