基于虚拟现实技术的排牙机器人应用研究

Study on application of tooth arrangement robot based on VRML

为了能很好地解决众多老年无牙颌患者全口义齿修复问题,针对排牙机器人的多指手进行结构优化设计,采取3个手指、9个自由度的多指灵巧手完成人工牙的抓取和排列任务.采用D-H坐标法建立了排牙机器人的正运动学模型,同时给出了转动和平移关节的位置和方向表达式,并在基于matlab/simulink仿真平台上应用虚拟现实技术进行了三维仿真,对排牙机器人的临床应用研究具有重要意义.

To solve the problem of repairing complete denture of old patient who is having no tooth jaw well, this paper carries on structure optimization design for multi-fingered hand of tooth arrangement robot,with more dexterous hand of 3 fingers,9 degree of freedoms finish picking and arrange task of the artificial teeth. Adopt D-H coordinate law to set up the positive kinematics model of the tooth arrangement robot, provide the expression formula of position and direction of rotating and translation joint, uses virtual reality technology to carry on three-dimensional emulation because of matlab/simulink emulation platform, significant to the clinical application study of the tooth arrangement robot.