直角坐标式排牙机器人毕业论文资料.doc

哈尔滨工业大学工学硕士学位论文 - PAGE II - - 摘 要 随着科学技术的飞速发展，机器人在诸多领域得到发展和应用。其中医用机器人是一个重要的发展方向，而医用机器人在全口义齿排牙中的应用比例极小，并且存在很多的问题和不足。为了适应不断发展的社会需要，未来的全口义齿机器人必须能够满足人性化要求。这就需要彻底改变靠医生个人经验设计和手工制作全口义齿的落后方式，使全口义齿的设计和制作既能满足无牙颌患者个体生理功能及美观要求，又能化、自动化、工业化的水平，从而极大地提高其制作效率和质量达到规范化、标准，是一种革命性的转变。排牙机器人的研制是将机器人应用于口腔修复医学的一次大胆尝试，具有极大地现实意义和应用前景。 针对多操作机排牙机器人存在的多电机协调动作控制难、排牙精度不高等问题，本文提出了一种小型化、高精度、操作简单、可以广泛使用的专业排牙机器人——直角坐标式排牙机器人。本文设计了直角坐标式排牙机器人的机械结构，完成了机器人的总装图和机械手装配图以及部分重要零件图的绘制，并使用Pro/Engineer对机器人进行了三维造型，重点设计了沿X、Y、Z轴的直线运动机构及绕X、Y、Z轴的回转运动机构，同时创新设计了机器人抓取牙套的手爪机构。 本文侧重对机构设计的创新，使机器人能适应复杂的全口义齿姿态的抓取，达到一定空间内的任意位姿排牙并保证各个义齿之间的相互位置和姿态。 关键词　机器人；直角坐标；全口义齿；排牙 Abstract With the rapid advancement of technology, robot has been developed and applied in many fields, and iatrical robot is an important developing direction. But iatrical robot has seldom been used in tooth-arrangement of full denture and a lot of problems and shortages are existing .In order to adapt the continuously developing needs of society, robot for tooth-arrangement in full denture must satisfy humanized requirement.It needs to change completely the backward way of full denture,in which the full denture designed depending on the medical personal experience and handmade,and full denture designed and made not only to satisfy the individual physiology and aesthetic requirements, but also to achieve standardization, automation, industrial level, so as to greatly increase full denture made effieciency and quality,and it is a revolutionary change. The development tooth-arrangement robot is a bold attempt in which robot used in dental medicine, it has greatly practical significance and application prospects. Against the existing problems of multi-operation tooth-arrangement,such as limitation of multi-motor coordinate action controlling and low accuracy in tooth arranging,and so on.This paper presents a small-based,high-precision,simplicity of use,extensive use specialized tooth-arrangement robot- tectangular coordinate tooth-arrangement robot.This paper