Structural design and simulation analysis of an orthodontic wire bending robot

Abstract

Based on the manual orthodontic wire bending motion, the type and number of degrees of freedom required for bending complex closed gap curves were analysed, and the resulting degrees of freedom were processed and calculated as the basic requirements for the structural design of the robot, while the current problem of the orthodontic wire bending robot not being able to continuously feed the wire was solved by using the counter-rotating collet feeding mechanism, which improved the operational efficiency of the robot. The kinematic model of the robot was established using the D-H method, and the kinematic analysis and simulation of the robot were carried out using MATLAB to verify the smoothness of the robot’s motion. At the same time, ANSYS simulation software was used to verify the stiffness characteristics of the robot during operation, completing the verification of feasibility.