Collaborative Simulation and Experimentation on the Dental Arch Generator of a Multi-manipulator Tooth-arrangement Robot

In the orthodontic treatment and manufacture of complete dentures, the most important steps are designing and generating a dental arch curve which adapts to the requirements of the patient according to their jaw arch form. The traditional way of acquiring the dental arch curve form is based on manual operation, which will randomly generate a lot of errors caused by human factors. The purpose of this paper is to automatically acquire the dental arch curve and implement the coordinated control of the dental arch generator of the multi-manipulator tooth-arrangement robot, which can be used in full denture manufacturing. According to the work principle, motion planning method of the dental arch generator will be analysed. A collaborative simulation of the dental arch generator is realized based on Matlab and ADAMS. Controlled experimentation of the dental arch generator and preliminary tooth-arrangement experimentation are performed using the multi-manipulator tooth-arrangement robot system in order to verify the feasibility of the motion planning method and the technical route. It will lay an important theoretical foundation for quantitative research on oral restoration and also provide a way to standardize the manufacturing process of full dentures and orthodontic treatments.