Positioning Control of Ultrasonic Motors Applied to Endodontic Microrobot

• Main Authors: Hsiung, Yueh, 熊越
• Other Authors: 呂宗熙
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/22769002691751160211

碩士 === 國立交通大學 === 機械工程學系 === 100 === The endodontic technology has been developed for many years in dentistry. However, treatment success still heavily depends on experience of dentists. Therefore, the present study aims to enhance the clinical quality and increase cure rates of endodontic technology by developing a computer-aided system and an endodontic microrobot. This study develops the positioning control for the endodontic microrobot. This study can be divided into two main parts, which include designs of an ultrasonic motor (USM) actuator stage and controllers of ultrasonic and stepping motors to drive the endodontic instrument. The USM stage is constructed by using six USMs to achieve displacement and rotation along X, Y, and Z axes and attain any motion required in the endodontic treatment process. We design a CMAC and PID controller for the USM stage to improve the accuracy during the process, and use a micro stepping motor as the endodontic instrument driving motor. In multi-axis control, this study uses a CMAC and PID controller to provide stable speed in the endodontic treatment process.