中文摘要：

介绍了基于Motoman UP6的弓丝弯制机器人的轨迹规划方法,弓丝弯制机器人的主要作业目的是弯制口腔医学临床使用的对错颌畸形进行矫正的矫正弓丝。根据矫正弓丝的实际形状要求,确定了在笛卡儿空间内的机器人轨迹规划方法,并选取合适的点位控制节点,插入相应的控制操作。控制节点的选取和分布决定了轨迹规划的合理性,同时也直接关系机器人作业的效率,通过限定弯制最大偏差研究了机器人控制节点的选取方式,并编写了节点计算程序。

英文摘要：

Trajectory planning of an archwire bending robot based on Motoman UP6 was studied firstly herein.The main function of the archwire bending robot is to bend the archwire which is used to make orthodontic treatment of patients with deformity teeth alignment in orthodontics.Cartesian trajectory planning method was selected finally according to needs of the archwire＇s shape.Then appropriate positions of the control nodes were calculated and the corresponding control assignment was inserted to each control node.These control nodes were directly related to the rationality of the trajectory planning and the efficiency of the robot operation.A correct algorithm was used to calculate control nodes and the C language program was prepared as well.