中文摘要：

错颌畸形是一种常见的口腔疾病,固定矫治技术是目前常见且有效的正畸治疗的方法,其中正畸弓丝的弯制是固定矫治技术的关键部分。由于弓丝的超弹性、成形弓丝的形状复杂性和手工操作的不确定性,难以实现快速、精确的个性化正畸弓丝的弯制。提出采用机器人实现正畸弓丝弯制,利用机器人的位姿精确控制能力和刚性保持能力克服弓丝的超弹性,实现弓丝弯制。基于弓丝弯制原理的分析,进行了澳丝弯制回弹过程分析。从考虑弯曲过程中中性层内移和弯曲力臂影响的角度出发,以澳丝拉伸试验所得材料本构模型为基础,进行了澳丝弯曲中性层曲率半径和弯曲力矩的计算,进而建立了澳丝的弯曲回弹理论计算模型。基于正畸弓丝回弹测量仪进行了澳丝弯曲回弹实验研究,结果验证了澳丝弯曲回弹理论计算模型的正确性。针对一例患者的口腔参数,基于正畸弓丝弯制机器人实验系统,进行了澳丝弯制实验研究,实验结果满足口腔治疗的要求,结果验证了该机器人样机的有效性和实用性。

英文摘要：

Malocclusion is a common oral disease. Fixed appliance technology is the most common and effective mal- occlusion orthodontic treatment method, and the key step of the fixed appliance technology is the bending of ortho- dontic archwire. Because of the archwire hyperelasticity, the shape complexity of the formed archwire and the uncer- tainty of manual operation, it is difficult to realize fast and accurate personalized archwire bending. A robot is used to bend the orthodontic archwire. The precise position and posture control ability and stiffness holding ability of the robot is used to overcome the archwire hyperelasticity and achieve the archwire bending. Through analyzing the arch-wire bending principle, the springback process of Australian orthodontic archwire bending is analyzed. Considering the neutral plane movement and bending arm effect, the neutral plane radius of curvature and bending moment of Australian orthodontic archwire is calculated based on the constitutive model obtained from tensile test; thus the spri- ngback theoretical model of the Australian orthodontic archwire is established. The Australian orthodontic archwire bending springback experiment was conducted using the springback measurement device of orthodontic archwire. The experiment results verify the correctness of the theoretical calculation model of Australian orthodontic archwire spring- back. The oral parameters of a patient were selected, and the bending experiment of Australian orthodontic archwire was conducted using the orthodontic archwire bending robot experiment system. The experiment results verify the va- lidity and practicality of the robot prototype.