Kinematics modeling and experimentation of the multi-manipulator tooth-arrangement robot for full denture manufacturing.
Artificial teeth are very complicated in shape, and not easy to be grasped and manipulated accurately by a single robot. The method of tooth-arrangement by multi-manipulator for complete denture manufacturing proposed in this paper. A novel complete denture manufacturing mechanism is designed based on multi-manipulator and dental arch generator. Kinematics model of the multi-manipulator tooth-arrangement robot is built by analytical method based on tooth-arrangement principle for full denture. Preliminary experiments on tooth-arrangement are performed using the multi-manipulator tooth-arrangement robot prototype system. The multi-manipulator tooth-arrangement robot prototype system can automatically design and manufacture a set of complete denture that is suitable for a patient according to the jaw arch parameters. The experimental results verified the validity of kinematics model of the multi-manipulator tooth-arrangement robot and the feasibility of the manufacture strategy of complete denture fulfilled by multi-manipulator tooth-arrangement robot.
Zhang
Yong-de
YD
Intelligent Machine Institute, Harbin University of Science and Technology, Harbin, China.
Jiang
Jin-gang
JG
Liang
Ting
T
Hu
Wei-ping
WP
D017076:Computer-Aided Design / Q000295:instrumentation*; D003779:Denture Design / Q000295:instrumentation*; D003824:Denture, Complete; D006801:Humans; D007568:Jaw; D007700:Kinetics; D008954:Models, Biological; D012371:Robotics