Kinematics performance analysis of a jaw movement robot

In order to reproduce jaw motions and mechanics that match the human jaw function truthfully with the conception of bionics, a novel human jaw movement robot based on mechanical biomimetic principles was proposed. Firstly, based on the biomechanical properties of mandibular muscles, a jaw robot is built based on the 6-PSS parallel mechanism. Secondly, the inverse kinematics solution equations are derived. Finally, kinematics performances, such as workspace with the orientation constant, manipulability, dexterity of the jaw robot are obtained. These indices show that the parallel mechanism have a big enough flexible workspace, no singularity, and a good motion transfer performance for human chewing movement.