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Alternative TitleDesign and Kinematics Performance Analysis of a Novel Jaw Movement Robot
丛明; 刘同占; 温海营; 杜婧; 徐卫良
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20131616213998
Contribution Rank1
Keyword仿下颌运动机器人 并联机构 工作空间 奇异值 灵活度
Other AbstractTo achieve the high bio-imitability requirements, a novel jaw movement robot is proposed based on mechanical biomimetic principles. Firstly, according to the biomechanical properties of mandibular muscles, such as unsymmetrical distribution, forces in different directions and the non-coplanar joints connecting maxillary and mandible, a robot that simulates the jaw movement is built based on the 6-PUS (prismatic-universal-spherical) parallel mechanism. Then, its inverse kinematics solution equation and Jacobian matrix are derived, and the analysis of kinematics performance such as workspace, singularity and flexibility is carried out to verify the feasibility of the mechanism design. Finally, a jaw movement experiment is conducted on the platform of virtual prototype to analyze the trajectory and the drive system of the robot. And the movement trajectory of the robot obtained is compared with the real movement of the human mandibular. The results indicate that the presented jaw movement robot meets the authenticity requirements of the human mandibular movement trajectory.
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Document Type期刊论文
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GB/T 7714
丛明,刘同占,温海营,等. 一种新型仿下颌运动机器人设计及运动性能分析[J]. 机器人,2013,35(2):239-248.
APA 丛明,刘同占,温海营,杜婧,&徐卫良.(2013).一种新型仿下颌运动机器人设计及运动性能分析.机器人,35(2),239-248.
MLA 丛明,et al."一种新型仿下颌运动机器人设计及运动性能分析".机器人 35.2(2013):239-248.
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