关键词: 仿生咀嚼, 6PSS, 并联驱动平台, 动力学, Adams仿真

Abstract: Based on the requirement of food texture detection and quality evaluation,and the detection and evaluation of denture materials,a bionic chewing 6PSS parallel driven platform was designed.The basic structure of the parallel driven platform is introduced.The kinetic energy,potential energy and kinetic equation of the system are obtained by Lagrange method for dynamic modeling and analysis.The virtual prototype is established in Adams and kinematics simulation was carried out.A set of masticatory movement trajectory was given to the moving platform to simulate the right side of chewing food.The pose parameter curve of the moving platform was obtained.The parametric curve data of the moving platform centroid is taken as the input conditions of the dynamic equation,the generalized force of the system is solved and the dynamics simulation is carried out.The pose curve obtained by the simulation is compared with that obtained by the kinematic simulation,which verifies the correctness of the dynamic model and the bionics performance of the mechanism is proved.At the same time,the error between the two curves and the possible causes of the error are analyzed,which provides a reference for the subsequent control and optimization.

Key words: bionic chewing, 6PSS, parallel driven platform, dynamics, Adams simulation