DESIGN AND ANALYSIS OF A FOUR-DEGREE-OF-FREEDOM HYBRID SPHERICAL SCANNING APPARATUS

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Scopus citations

Abstract

The design of a novel scanning apparatus used for digitizing dental impression molds is presented. The apparatus consists of a four-degree-of-freedom hybrid spherical linkage capable of moving the dental mold relative to a laser scanner along a curved path in the specified orientations. Since closed form inverse kinematics solutions are not available for the multiple degree-of-freedom spatial mechanism in question, symbolic and numerical computation techniques are used extensively for kinematics analysis, dimension design, and optimization. In addition, mechanical design and simulation software (Pro/Engineer & Pro/Mechanica), as well as the rapid prototyping machines are used to reduce the development cost and cycle time.

Original languageEnglish (US)
Title of host publication26th Biennial Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages689-694
Number of pages6
ISBN (Electronic)9780791835173
DOIs
StatePublished - 2000
Externally publishedYes
EventASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2000 - Baltimore, United States
Duration: Sep 10 2000Sep 13 2000

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume7A

Conference

ConferenceASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2000
Country/TerritoryUnited States
CityBaltimore
Period9/10/009/13/00

Bibliographical note

Funding Information:
The authors appreciate the support of IRIS corp. and Minnesota Technology Inc. for funding this project. We also thank Dr. Zhang Hong, Mr. Byron Raymond, and Dr. Boyang Hong for assistance and discussions.

Publisher Copyright:
Copyright © 2000 by ASME.

Keywords

  • kinematics
  • laser sensor
  • manipulator
  • path planning
  • scanning
  • spherical linkage

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