A Redundantly Actuated Masticatory Robot of Spatial Parallel Mechanism with Two Higher Kinematic Pairs —Kinematics, Optimal Torque Distribution and Motion Control

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dc.contributor.advisor Xu, P en
dc.contributor.advisor Shang, J en
dc.contributor.author Cheng, Chen en
dc.date.accessioned 2016-01-18T03:31:14Z en
dc.date.issued 2015 en
dc.identifier.citation 2015 en
dc.identifier.uri http://hdl.handle.net/2292/28026 en
dc.description.abstract To quantitatively evaluate food texture variations and masticatory efficiency during chewing, a human-like masticatory robot that mimics the human masticatory system is proposed. By modelling the two Temporomandibular Joint (TMJ) constraints with point-contact higher kinematic pairs (HKPs), and the six chief chewing muscles with rotational-spherical-spherical linkages, the resultant robot is redundantly actuated by six actuators with four Degrees of Freedom (DOFs). In kinematics, the HKP constraints onto the mandibular motions were explored. Inverse kinematics was derived in closed-form solutions. With the inverse and forward Jacobian matrix, the singularities were judged. The workspace was arrived at via the classical discrete search algorithm. Afterwards, its inverse dynamics was analysed via the Lagrangian formulations of the first type with the Newton-Euler equations, acquiring the actuating torques, the reaction forces in the linkages and at HKPs. Five optimal criteria were proposed to distribute the actuating torques based on the applications of the robot. Stiffness and natural frequency were computed for a safe operation of the robot. The stiffness matrix was constructed from the principle of virtual work. The mass matrix was found via its kinetic energy, which was expressed by the time differential of the four DOFs. Afterwards, the natural frequency was computed in virtue of both the mass matrix and the stiffness matrix. Controllers in joint space were designed, with the actuating torques computed under five optimal criteria as the feedforward dynamic compensation. Experiments were carried out to evaluate the proposed control algorithms. The results illustrated that the robot was able to emulate complex mandibular motions, the feedforward dynamic compensation significantly enhanced the motion tracking accuracy, and the friction compensation further improved the motion performance. In this thesis, the methods in analysing the robot’s kinematics, dynamics, control and experiments have been examined. By demonstrating the robot’s capabilities in reproducing the human masticatory behaviours in terms of the chewing trajectories and forces, the fisrt results obtained in the thesis provide a novel chewing robot that can be used in food industry, biology, and mechanism and machine fields. en
dc.publisher ResearchSpace@Auckland en
dc.relation.ispartof PhD Thesis - University of Auckland en
dc.rights Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. en
dc.rights.uri https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm en
dc.rights.uri http://creativecommons.org/licenses/by-nc-sa/3.0/nz/ en
dc.title A Redundantly Actuated Masticatory Robot of Spatial Parallel Mechanism with Two Higher Kinematic Pairs —Kinematics, Optimal Torque Distribution and Motion Control en
dc.type Thesis en
thesis.degree.grantor The University of Auckland en
thesis.degree.level Doctoral en
thesis.degree.name PhD en
dc.rights.holder Copyright: The Author en
dc.rights.accessrights http://purl.org/eprint/accessRights/OpenAccess en
pubs.elements-id 517155 en
pubs.record-created-at-source-date 2016-01-18 en


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