Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion
Haiying WEN1,2, Jianxiong ZHU1,2, Hui ZHANG1,2, Min DAI1, Bin LI3, Zhisheng ZHANG1(), Weiliang XU4(), Ming CONG5
1. School of Mechanical Engineering, Southeast University, Nanjing 211189, China 2. Engineering Research Center of New Light Sources Technology and Equipment, Ministry of Education, Nanjing 210009, China 3. Department of Stomatology, Zhongda Hospital Affiliated to Southeast University, Nanjing 210009, China 4. Department of Mechanical & Mechatronics Engineering, The University of Auckland, Auckland 1142, New Zealand 5. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China
Masticatory robots are an effective in vitro performance testing device for dental material and mandibular prostheses. A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robot that can achieve increasingly human-like chewing motion. The CDLA presents remarkable advantages, such as lightweight and high stiffness structure, in using cable amplification and pulley systems. This work also exploits the proposed CDLA and designs a masticatory robot called Southeast University masticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position change of the muscle’s origin. Stiffness analysis and performance experiment validate the CDLA’s efficiency, with its stiffness reaching 1379.6 N/mm (number of cable parts n = 4), which is 21.4 times the input wire stiffness. Accordingly, the CDLA’s force transmission efficiencies in two directions are 84.5% and 85.9%. Chewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can help SMAR achieve a natural human-like chewing motion and sufficient chewing forces for potential applications in performance tests of dental materials or prostheses.
. [J]. Frontiers of Mechanical Engineering, 2022, 17(4): 31.
Haiying WEN, Jianxiong ZHU, Hui ZHANG, Min DAI, Bin LI, Zhisheng ZHANG, Weiliang XU, Ming CONG. Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion. Front. Mech. Eng., 2022, 17(4): 31.
Direction of the driving force and the muscle-force line of action
Weight of one linkage (moving parts)
Features
Crank-actuated six-RSS robot
On the fixed platform
Inconsistent; swing crank
Less than 80 g
Light; inconsistent force line
Ball screw-driven six-PUS robot
On the fixed platform
Inconsistent; muscle origins change
About 220 g
Heavy; inconsistent force line
Ball screw-driven six-UPS robot
On the linkage
Consistent
More than 260 g
Heavy; consistent force line
CDLA-based six-UPS robot
On the fixed platform
Consistent
Less than 90 g
Light; consistent force line
Tab.1
Fig.4
Fig.5
Fig.6
Fig.7
Fig.8
Fig.9
Fig.10
Fig.11
Abbreviations
3D
Three dimensional
ABS
Acrylonitrile butadiene styrene
c, s
sine and cosine functions, respectively
CDLA
Cable-driven linear actuator
CDPM
Cable-driven parallel manipulator
DOF
Degree of freedom
PUS
Prismatic?universal?spherical
RSS
Revolute?spherical?spherical
SMAR
Southeast University masticatory robot
TMJ
Temporomandibular joint
WJ
Waseda Jaw
WY
Waseda Yamanashi
UPS
Universal?prismatic?spherical
Variables
F
External force applied to the sliding shaft
Fin
Motor’s input pulling force
Fout
Cable and pulley system’s output force
kla
CDLA’s stiffness
kw
Stiffness coefficient of wires
K
Cable’s elasticity coefficient
Output stiffness of this pulley system
Δlin
Input deformation
Δlout
Output deformation
Corresponding length of each CDLA
Lleft, Lright
Length of the left and right wires that pull or loosen, respectively
Lpre
Pretensioned distance of the wire
ΔL
Infinitesimal change of the length of wires
n
Number of cables turning around the movable pulleys
Position of {M} relative to {G}
Rotation transformation matrix mapping from {M} to {G}
Si (i = 1, 2, …, 6)
Insertion points of the six-muscle CDLA
Tloosen
Tension of the loosened wire during the movement
Tpull
Tension of the pulled wire during the movement
ΔT
Input force generated by the motor
Ui (i = 1, 2, …, 6)
Origin points of the six-muscle CDLA
Vector of each CDLA connecting point Ui and Si
x
Distance that the sliding block moves
X
Coordinates in X direction
Δx
Infinitesimal change of the moving distance of the sliding block
YL, YR
Coordinates of the left and right ball heads in the TMJ structure, respectively
Y
Coordinates in Y direction
Z
Coordinates in Z direction
α, β, γ
Euler angles rotated about X, Y, and Z axes, respectively
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