Research on Workspace of Masticatory Bionic Robot Based on the 3/3-RRRS Parallel Manipulator

masticatory movement of mankind is a very complicated process of food processing. In order to research the mechanism of masticatory,firstly, a bionic robot must be designed to achieve chin’s multi-degree of freedom motion and chewing. By 3/3-RRRS parallel mechanism driving teeth up and down, it achieved full chewing of food. The study of this article is done in the condition of each given attitude and location of the moving platform, using the method of the three dimensional boundary search for location workspace. Through the research on workspace, it can be used to analyze the change law of workspace, and provide a theoretical basis for chewing bionic robot’s design with specific chewing campaign parameters.