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


Chewing cycle, chewing robot, kinematics, trajectory planning, dental testing


This paper aims to propose a chewing-cycle trajectory planning method for dental testing chewing robot on basis of literature data on human chewing movements and kinematics of biomimetic temporomandibular joints (TMJs) in the application of in vitro dental material testing. According to the 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, micromorphological analysis of the occlusal surfaces demonstrates that the dental testing chewing robot has a good quality of occlusion. Implementing the proposed chewingcycle 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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