2021
DOI: 10.3390/machines9080171
|View full text |Cite
|
Sign up to set email alerts
|

A Redundantly Actuated Chewing Robot Based on Human Musculoskeletal Biomechanics: Differential Kinematics, Stiffness Analysis, Driving Force Optimization and Experiment

Abstract: Human masticatory system exhibits optimal stiffness, energy efficiency and chewing forces needed for the food breakdown due to its unique musculoskeletal actuation redundancy. We have proposed a 6PUS-2HKP (6 prismatic-universal-spherical chains, 2 higher kinematic pairs) redundantly actuated parallel robot (RAPR) based on its musculoskeletal biomechanics. This paper studies the stiffness and optimization of driving force of the bio-inspired redundantly actuated chewing robot. To understand the effect of the po… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
2
1

Citation Types

0
4
0

Year Published

2022
2022
2024
2024

Publication Types

Select...
6
2

Relationship

1
7

Authors

Journals

citations
Cited by 11 publications
(4 citation statements)
references
References 51 publications
0
4
0
Order By: Relevance
“…Therefore, we have nine equations and ten variables (refer to Appendix), meaning we still need additional condition to obtain a unique solution. This is a typical force redundant system [9][10][11][12][13]. One way to solve this problem is pseudoinverse solution.…”
Section: B Resolving the Force Redundancymentioning
confidence: 99%
“…Therefore, we have nine equations and ten variables (refer to Appendix), meaning we still need additional condition to obtain a unique solution. This is a typical force redundant system [9][10][11][12][13]. One way to solve this problem is pseudoinverse solution.…”
Section: B Resolving the Force Redundancymentioning
confidence: 99%
“…Here we can mention testing of screw-type implants or subperiosteal implants of complex geometries, and wear testing of crowns and bridges [7]. Raabe et al assembled a Stewart platform type apparatus with six prismatic actuators for the wear testing of total dentition, crowns, and bridges.…”
Section: Introductionmentioning
confidence: 99%
“…Stiffness modeling for PMs has attracted a lot of attentions in the past decades. Existing methods generally have four classes: the method of finite analysis, 31,32 the method of matrix structural analysis, 33,34 the method of virtual joint modeling, 35,36 and the strain energy based method. 37,38 The method of finite analysis could generate results with high accuracy, but is very time-consuming, which is usually used as an alternative of experiments in the predesign stage.…”
Section: Introductionmentioning
confidence: 99%