Rigid-body inverse dynamics modelling and analysis of 6RSS parallel bio-inspired masticatory robot
10.19745/j.1003-8868.2024043
- VernacularTitle:6RSS仿人并联咀嚼机器人的刚性动力学建模分析
- Author:
Chen CHENG
1
;
Xiao-Jing YUAN
;
Neng-Jun YANG
;
Gen-Liang HOU
;
Fan-Qi ZENG
;
You-Cai WANG
;
Wei-Peng LUO
;
Guan ZHAO
Author Information
1. 火箭军工程大学保障学院维修工程教研室,西安 710025
- Keywords:
6RSS;
masticatory robot;
bio-inspired design;
parallel robot;
rigid-body inverse dynamics;
Newton-Euler's law
- From:
Chinese Medical Equipment Journal
2024;45(3):16-22
- CountryChina
- Language:Chinese
-
Abstract:
Objective To carry out rigid-body inverse dynamics modelling and analysis of a self-designed 6RSS parallel bio-inspired masticatory robot.Methods Firstly,the functions of kinematic variables including translational/rotational velocities and accelerations were derived for rigid-body inverse dynamics modelling.Secondly,the rigid-body inverse dynamics model was established with the Newton-Euler's law.Finally,the chewing motion trajectories of the oral health volunteers were tracked and numerical calculations were carried out in the case where the robot was subjected to a chewing reaction force.Results Numerical calculations showed that the driving torque and the constraint force of the robot peaked when the chewing reaction force was at its maximum.Conclusion The external force has a large impact on the inverse dynamics of the robot,and theoretical references are provided for the motion control and optimal design of the robot.[Chinese Medical Equipment Journal,2024,45(3):16-22]
