Related Experiment Video
Updated: Jun 10, 2026
The Establishment of a Murine Maxillary Orthodontic Model
Published on: October 27, 2023
Kinematics modeling and experimentation of the multi-manipulator tooth-arrangement robot for full denture
Yong-de Zhang1, Jin-gang Jiang, Ting Liang
1Intelligent Machine Institute, Harbin University of Science and Technology, Harbin, China.
Abstract:
Artificial teeth are very complicated in shape, and not easy to be grasped and manipulated accurately by a single robot. The method of tooth-arrangement by multi-manipulator for complete denture manufacturing proposed in this paper. A novel complete denture manufacturing mechanism is designed based on multi-manipulator and dental arch generator. Kinematics model of the multi-manipulator tooth-arrangement robot is built by analytical method based on tooth-arrangement principle for full denture. Preliminary experiments on tooth-arrangement are performed using the multi-manipulator tooth-arrangement robot prototype system. The multi-manipulator tooth-arrangement robot prototype system can automatically design and manufacture a set of complete denture that is suitable for a patient according to the jaw arch parameters. The experimental results verified the validity of kinematics model of the multi-manipulator tooth-arrangement robot and the feasibility of the manufacture strategy of complete denture fulfilled by multi-manipulator tooth-arrangement robot.
