This paper a rope-driven robot configuration for root canal preparation surgery was designed.The motor ro-tation output is connected with the flexible shaft,and the flexible shaft is connected with the rope drum by a taper jack,which can realize the convenient disassembly of the output shaft and facilitate the high-temperature disinfection procedure of the end mechanism.The cable drive is used to realize the relative remote arrangement of the drive ele-ments and the execution,and to ensure the small size of the end execution parts,which is convenient for the action in the narrow space of the mouth.The deformation of the root canal file flexible shaft of the end actuator was ana-lyzed,and the movement was compensated by the reverse tension of the rope between the adjacent joints to ensure the decoupling of the movement between the joints.Finally,the prototype is made and the feasibility of its basic mo-tion and motion compensation is verified.
关键词
构型设计/根管预备手术机器人/关节间运动解耦/有限元分析/样机模型
Key words
configuration design/root canal preparation robot/inter joint motion decoupling/finite element analysis/prototype model
维普
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