Optimal distribution of the actuating torques for a redundantly actuated masticatory robot with two higher kinematic pairs

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• 作者：Chen Cheng ; Weiliang Xu ; Jianzhong Shang
• 关键词：Redundant actuation ; Masticatory robot ; Parallel mechanism ; Higher kinematic pairs ; Inverse dynamics
• 刊名：Nonlinear Dynamics
• 出版年：2015
• 出版时间：January 2015
• 年：2015
• 卷：79
• 期：2
• 页码：1235-1255
• 全文大小：1,568 KB
• 参考文献：1. Xu, W.L., Bronlund, J.E., Potgieter, J., Foster, K.D., Rhrle, O., Pullan, A.J., Kieser, J.A.: Review of the human masticatory system and masticatory robotics. Mech. Mach. Theory 43(11), 1353-375 (2008) CrossRef
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  6. Takanobu, H., Yajima, T., Nakazawa, M., Takanishi, A., Ohtsuki, K., Ohnishi, M.: Quantification of masticatory efficiency with a mastication robot. In: IEEE International Conference on Robotics and Automation, pp. 1635-640. Leuven, Belgium (1998)
  7. Sun, C., Xu, W.L., Bronlund, J.E., Morgenstern, M.: Dynamics and compliance control of a linkage robot for food chewing. IEEE Tran. Ind. Electron. 61(1), 377-86 (2014) CrossRef
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  17. Shiqing, F., Franitza, D., Torlo,
• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems and Control
  Mechanics
  Mechanical Engineering
  Automotive and Aerospace Engineering and Traffic
  
• 出版者：Springer Netherlands
• ISSN：1573-269X

文摘

Optimal distribution of the actuating torques for a masticatory robot, which is in the form of a redundantly actuated parallel mechanism with two point-contact higher kinematic pairs (HKPs), is investigated in this paper. First, the mechanism of the robot is described, in which the two HKPs are used to model the temporomandibular joints between the condyles and the maxilla in the human masticatory system, and the six kinematic chains are used to model the six groups of the muscles of mastication. Then the inverse dynamics is studied using the Lagrange’s equations of the first type, resulting in the closed-form solution for the actuating torques. Considering the infinite solutions of the inverse dynamics for the actuating torque distribution in the redundantly actuated parallel robot, six optimal criteria that signify the practical performance of the robot are proposed. Finally, two simulations without and with bite force exerting to the teeth, respectively, given that the robot is specified to track a real human mandibular movement are conducted. Results are discussed and it is found that the dynamic performance of the robot varies significantly from one optimal criterion to another.