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University of Minnesota
A New Design of Mastication Machine using Linear Motors Lianshan Lin, Alex Fok, Ralph Delong, Maria Pintado, William H. Douglas Minnesota Dental Research Center for Biomaterials and Biomechanics University of Minnesota
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Simulate the real chewing action Long lasting working life
Targets: Simulate the real chewing action Long lasting working life Robust and stable Energy efficient and lower cost
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Adjustable wear frequency
Previous designs – ACTA wear machine Apply load by spring Adjustable wear frequency Two-body or three-body wear Specimen worn by steel wheel Multi specimens in one test Academic Centre for Dentistry Amsterdam (ACTA), 1994
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Albert-Ludwigs University and Christian-Albrechts University, 1999
Previous designs – 2-axis chewing simulator Albert-Ludwigs University and Christian-Albrechts University, 1999
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Bialystok Technical University, 2006
Previous designs – tribometer Bialystok Technical University, 2006
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Waseda University, WOJ-1 RII, 2002
Previous designs – mastication robot Waseda University, WOJ-1 RII, 2002
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jaw motion simulator 6 linear actuators, 3 DOFs
Previous designs – robotic jaw jaw motion simulator 6 linear actuators, 3 DOFs Massey University, 2002
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force sensor underneath the second molars
Previous designs – Dento-Munch Hexapod robot, 6 DOFs 6 actuators force sensor underneath the second molars University of Bristol, 2009
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University of Minnesota, MDRCBB, 1984
Previous designs – ART-I and ART-II ART - II ART - I University of Minnesota, MDRCBB, 1984
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When following the FDA guidelines on good laboratory practice (GLP),
Comparison When following the FDA guidelines on good laboratory practice (GLP), ONLY the expensive MTS wear simulator is a qualified machine to test wear in vitro; ONLY with the MTS method have wear parameters and influencing factors been documented and verified. ----S.D. Heintze, How to qualify and validate wear simulation devices and methods, dental materials 2 2 ( ) 712–734
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Chewing forces recorded by EMG sensor [1]
Design objective – chewing forces Chewing forces recorded by EMG sensor [1] Representation of masticatory force profile by a sine function [2] [1] R. González, I. Montoya, J. Cárcel, Review: the Use of Electromyography on Food Texture Assessment, Food Science and Technology International, Dec 2001 vol. 7 no [2] J. Ahlgren and B. Owall, “Muscular activity and chewing force: A polygraphic study of human mandibular movements,” Arch. Oral Biol., vol. 15, pp , Apr
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Machine setup
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Hydraulic motor controller
Design Hydraulic motor controller Vertical motion Load cell Horizontal motion Linear motor controller Connection Overview
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Hardware connection Signal recording Load cell Vertical stroke LVDT PC
Analog sine wave Digital stop trigger PC User Interface Data Storing Command MTS controller Motion of hydraulic actuator Load cell Vertical stroke LVDT Linear motor controller Synchronized horizontal motion Stroke sensor Signal recording
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Control signals Vertical load control Horizontal displacement control
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Resin disk, at the bottom
Wearing test samples Cusp tip, on the top Resin disk, at the bottom
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Profiling results
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Disc volume change (mm3)
Wearing results Disc volume change (mm3) Cusp tip Volume change (mm3) Maximum depth (μm) Mean depth (μm) Area (mm2) ART-1 Coated disc 0.004±0.001 18.731±2.384 6.699±4.421 0.625 Uncoated disc 0.006±0.001 26.605±2.298 10.561±6.647 0.540 ART-3 18.166±2.739 8.653±4.895 0.440 32.535±2.025 12.599±11.107 0.460
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Working Noise (db, background 35db)
Comparisons of other working parameters Power (W) Size (m3) Working Noise (db, background 35db) Hydraulic Pump Controller ART-1 5060 N/A 2.88 72 ART-3 MTS Mini Bionix II 460 2.376 42 Baldor Linear Motor 617 37
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Conclusions: Future work:
The new design of ART-III machine is equivalent to previous machines in results of chewing tests. The system of ART-III is robust and stable in testing. The using of linear motor makes the system more efficient in power consumption, smaller in size and less noisy. Future work: Design a new machine using linear motors only to replace current hydraulic systems.
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