Motion Control and Experimentation on the Dental Arch Generator Driven by Multi-motors
JIANG Jingang1, ZHANG Yongde1, LÜ Peijun2, WANG Yong 2
1. Intelligent Machine Institute, Harbin University of Science and Technology, Harbin 150080, China; 2. Peking University School of Stomatology, Beijing 100081, China
Abstract:Aiming at the synchronous motion control of the dental arch generator with multi-motor drive,this paper analyzes the kinematics of the dental arch generator,and presents a hardware control scheme based on industrial personal computer and control card PC6401.Real-time closed loop synchronous control is realized for the dental arch generator based on multithreading technology and VC++6.0,and experiments on control and tooth-arrangement are performed with a multi-manipulator tooth-arrangement robot prototype.The experiment indicates that the application of multithreading technology to the control program prevents the main thread block in real-time control,and realizes parallel coordinated control for the dental arch generator.Error analysis and tooth-arrangement experimentation are made,and the results indicate that the control strategy and technical route can fulfill the requirements for motion speed and location precision.
[1] 张永德.机器人化全口义齿排牙技术[M].哈尔滨:哈尔滨工业人学出版社,2007.Zhang Yongde.Robotic Complete Denture Tooth Arrangement Technology[M].Harbin:Harbin Institute of Technology Press,2007.
[2] Alemzadeh K,Hyde R A,Gao J.Prototyping a robotic dental testing simulator[J].Proceedings of the Institution of Mechanical Engineers,Part H:Journal of Engineering in Medicine,2007,221(4):385-396.
[3] Valenzuela A P,PardoM A,Yezioro S.Description of dental arch form using the Fourier series[J].The International Journal of Adult Orthodontics and Orthognathic Surgery,2002,17(1):59-65.
[4] BeGole E A,Lyew R C.A new method for analyzing change in dental arch form[J].American Journal of Orthodontics and Dentofacial Orthopedics,1998,113(4):394-401.
[5] 聂琼,林久祥.错颌畸形牙弓形态的模拟及比较[J].北京医科大学学报,2000,32(2):145-148.Nie Qiong,Lin Jiuxiang.Fit and comparison of arch forms among different malocclusions[J].Journal of Beijing Medical University,2000,32(2):145-148.
[6] Mutinelli S,Manfredi M,Cozzani M.A mathematic-geometric model to calculate variation in mandibular arch form[J].European Journal of Orthodontics,2000,22(2):113-125.
[7] Noroozi H,Nik T H,Saeeda R.The dental arch form revisited[J].Angle Orthodontist,2001,71(5):386-389.
[8] 宋宇,于艳玲,周彦恒,等.前部弓形的不同形态对弓形弧长影响的研究[J].口腔医学,2008,28(5):242-243.Song Yu,YuYanling,Zhou Yanheng,et al.Effects of arch shape of different maxillary anterior arches on anterior dental arch length[J].Stomatology,2008,28(5):242-243.
[9] 张永德,汪洋涛,王沫楠,等.基于ANSYS与ADAMS的柔性体联合仿真[J].系统仿真学报,2008,20(17):4501-4504.Zhang Yongde,Wang Yangtao,Wang Monan,et al.Cosimulation of flexible body based on ANSYS and ADAMS[J].Journal of System Simulation,2008,20(17):4501-4504.
[10] 何学俭,虞钢.激光智能制造系统中同步控制的实现[J].机械工程学报,2004,40(5):126-130.He Xuejian,Yu Gang.Realization of synchronous control in laser intelligent manufacture system[J].Chinese Journal of Mechanical Engineering,2004,40(5):126-130.
[11] 胡玮,段银钟,林珠.个性化正畸牙弓形,奁计算机辅助设计软件的应用[J].实用口腔医学杂志,2000,16(3):211-213.Hu Wei,Duan Yinzhong,Lin Zhu.Application of a new computer aided analysis system for individual arch form[J].Journal of Practical Stomatology,2000,16(3):211-213.
[12] Zhang Y D,Zhao Z F,Song R,et al.Tooth arrangement for the manufacture of a complete denture using a robot] J].Industrial Robot,2001,28(5):420-424.
[13] Rodfiguez A L,Lopez-de-Teruel P E,Ruiz A,et al.A design pattern for component oriented development of agent based multithreaded applications[M].Lecture Notes in Computer Science(vol.5168).Berlin,Germany:Springer-Verlag,2008:709-718.
[14] 张明慧,张尧禹,黄廉卿.多线程技术在实时测量系统中的应用[J].计算机应用研究,2004,21(8):163-165.Zhang Minghui,Zhang Yaoyn,Huang Lianqing.Multithread application in the real-time measure system[J].Application Research of Computers,2004,21(8):163-165.
[15] 郭占社,孟永钢,苏才钧,等.基于Windows的精确定时技术及其在工程中的应用[J].哈尔滨工业人学学报,2005,37(12):1717-1720.Guo Zhanshe,Meng Yonggang,Su Caijan,et al.Windows based precise timing technology and its engineering applications[J].Journal of Harbin Institute of Technology,2005,37(12):1717-1720.
[16] 韩志勇,李先国.Windows 2000下高精度计时的研究[J].计算机工程与设计,2005,26(9):2389-2391,2394.Han Zhiyong,Li Xianguo.Research of high-resolution timing methods in Windows 2000[J].Computer Engineering and Design,2005,26(9):2389-2391,2394.