仿生咀嚼机器人弹性颞下颌关节设计与性能分析

Design and performance analysis of elastic temporomandibular joint structure of biomimetic masticatory robot

咀嚼机器人在义齿材料测试和下颌康复训练领域具有广阔的应用前景,而颞下颌关节的机构型式是影响咀嚼机器人性能表现的重要因素。鉴于目前弹性元件已在仿生机器人领域得到广泛应用,因此本文在点接触高副的基础上采用弹性元件模拟颞下颌关节内关节盘缓冲振荡的生物力学特点,形成弹性颞下颌关节机构型式;然后,本文探讨了弹性颞下颌关节对咀嚼机器人在自由度、运动学与动力学等方面的影响,根据关节面几何约束对颞下颌关节的位置与速度进行运动学分析,并进行基于拉格朗日方程的动力学分析;最后,使用响应面法对弹性元件预载荷以及刚度取值的影响进行分析。本文结果表明,弹性颞下颌关节能够有效保证关节的灵活运动与稳定受力。综上,本文所提出的弹性颞下颌关节机构方案进一步提升了咀嚼机器人仿生性,也为粘弹性关节盘的仿生设计提供了新思路。

Masticatory robots have a broad application prospect in the field of denture material tests and mandible rehabilitation.Mechanism type of temporomandibular joint structure is an important factor influencing the performance of the masticatory robot.In view of the wide application of elastic components in the field of the biomimetic robot,an elastic component was adopted to simulate the buffering characteristics of the temporomandibular joint disc and formed the elastic temporomandibular joint structure on the basis of point-contact high pair.Secondly,the influences of the elastic temporomandibular joint structure(on mechanism degree,kinematics,dynamics,etc.)were discussed.The position and velocity of the temporomandibular joint were analyzed based on geometric constraints of the joint surface,and the dynamic analysis based on the Lagrange equation was carried out.Finally,the influence of the preload and stiffness of the elastic component was analyzed by the response surface method.The results showed that the elastic temporomandibular joint structure could effectively guarantee the flexible movement and stable force of the joint.The elastic joint structure proposed in this paper further improves the biomimetic behavior of masticatory robots.It provides new ideas for the biomimetic design of viscoelastic joint discs.