Title :
Kinematic analysis of a humanoid masticatory robot
Author :
Chen Cheng ; Xu, Peng ; Bronlund, John
Author_Institution :
Dept. of Mech. Eng., Univ. of Auckland, Auckland, New Zealand
Abstract :
A humanoid masticatory robot whose function is to evaluate food properties in a human chewing style is proposed in this paper. In the first place, the mechanism of the robot, i.e. a parallel manipulator with redundant actuation that consists of 6-RSS linkages and 2 constraints simulating human masticatory muscles and the temporomandibular joints (TMJ) respectively is introduced. Then the inverse kinematics is deduced, after which the forward and inverse Jacobian matrices as well as the methods for inverse and forward singularity are presented and analyzed. According to the true masticatory behaviors, mathematical models of them are built to represent the physical restrictions. In the end, the workspace of each linkage is analyzed, the sum of which is the workspace of the robot.
Keywords :
Jacobian matrices; humanoid robots; manipulator kinematics; 6-RSS linkages; TMJ; food properties; forward Jacobian matrices; human chewing style; human masticatory muscles; humanoid masticatory robot; inverse Jacobian matrices; inverse kinematics; kinematic analysis; mathematical models; parallel manipulator; redundant actuation; temporomandibular joints; Couplings; Educational institutions; Joints; Kinematics; Mouth; Robot kinematics; inverse kinematics; masticatory robot; parallel manipulator; redundant actuation; singularity; workspace;
Conference_Titel :
Mechatronics and Machine Vision in Practice (M2VIP), 2012 19th International Conference
Conference_Location :
Auckland
Print_ISBN :
978-1-4673-1643-9
