Journal of Medical Systems

, Volume 35, Issue 6, pp 1421–1429 | Cite as

Kinematics Modeling and Experimentation of the Multi-manipulator Tooth-Arrangement Robot for Full Denture Manufacturing

  • Yong-de Zhang
  • Jin-gang JiangEmail author
  • Ting Liang
  • Wei-ping Hu
Original Paper


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.


Tooth-arrangement Kinematics model Multi-manipulator Full denture manufacturing 



This work was supported by the National Natural Science Foundation of China (NSFC) under Grant 50675054.


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Copyright information

© Springer Science+Business Media, LLC 2009

Authors and Affiliations

  • Yong-de Zhang
    • 1
  • Jin-gang Jiang
    • 1
    Email author
  • Ting Liang
    • 1
  • Wei-ping Hu
    • 2
  1. 1.Intelligent Machine InstituteHarbin University of Science and TechnologyHarbinChina
  2. 2.The Second Affiliated Hospital of Harbin Medical UniversityHarbinChina

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