Motion Planning for Archwire Bending Robot in Orthodontic Treatments

摘要

This paper presents a motion planning method for archwire bending robot in orthodontic treatments. Because the movement of the archwire bending robot belongs to typical hybrid point-to-point movement, which has both long and short distance, thus the traditional acceleration/deceleration (acc/dec) method is not suitable for this mode of motion. In order to improve the stability and relief the impact and vibration in the process of archwire bending, a new motion planning method that based on three-order pure S acc/dec curve, 5 segments acc/dec curve, and modified acc/dec curve is established and a piecewise self-adjustment acc/dec strategy that based on displacements of three-order pure S acc/dec curve, 5 segments acc/dec curve, and modified acc/dec curve is proposed. The effect of acc/dec methods on the process of archwire bending is analyzed, and verification of the proposed method is conducted through MATLAB simulation. The MATLAB simulation realized validity of the motion planning.