Progress

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= Project Progresses and Tasks =
= Project Progresses and Tasks =
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== The SAIT SPA Surgical Robot ==
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== <span style="color:blue;">The SAIT SPA Surgical Robot</span> ==
* Overall arrangement of the whole system.
* Overall arrangement of the whole system.
** ''Assigned to:Jiangran Zhao
** ''Assigned to:Jiangran Zhao
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== The Endoscopic Surgical Robot ==
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== <span style="color:blue;">The Endoscopic Surgical Robot</span> ==
* Validate the concept of shape-locking
* Validate the concept of shape-locking
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== Exoskelton ==
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== <span style="color:blue;">Exoskelton</span> ==
* Develop the actuation device to improve the driving capability
* Develop the actuation device to improve the driving capability
* Help Dong with the experiments of the one-segment exoskeleton
* Help Dong with the experiments of the one-segment exoskeleton
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== The Prosthetic Hand ==
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== <span style="color:blue;">The Prosthetic Hand</span> ==
* Summarize expenditures on fabrication  
* Summarize expenditures on fabrication  
* Quantify backlashes of the train of gears before and after replacing gears
* Quantify backlashes of the train of gears before and after replacing gears
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== Intracavity Inspection Arm ==
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== <span style="color:blue;">Intracavity Inspection Arm</span> ==
* Kinematics modeling of the intracavity inspection arm with the configuration of 4*2+1:  
* Kinematics modeling of the intracavity inspection arm with the configuration of 4*2+1:  
** Jacobian derivation
** Jacobian derivation
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== Micro Motor ==
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== <span style="color:blue;">Micro Motor</span> ==
* Fabrication
* Fabrication
** ''Assigned to: Guoqing Liu
** ''Assigned to: Guoqing Liu
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== Kinematics Study ==
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== <span style="color:blue;">Kinematics Study</span> ==
* Paper study
* Paper study
** ''Asigned to Fengjin Chai
** ''Asigned to Fengjin Chai

Revision as of 13:42, 28 December 2012


Project Progresses and Tasks

The SAIT SPA Surgical Robot

  • Overall arrangement of the whole system.
    • Assigned to:Jiangran Zhao
    • Planned progress: new version for the next meeting
  • Actuation mechanism for gripper and needle
    • Assigned to: Jiangran Zhao
    • planned progress: new version for next meeting
  • Bellow fabrication
    • Assigned to: Minxiao Fu & Jiangran Zhao
    • Planned progress: Keep colse contact with the factories.
  • Hybrid continuum structure
    • Manufacture and experimentation
    • Assigned to: Minxiao Fu
    • Planned progress: Design a simple testbed for this experiment.
  • xPC control of the one-segment continuum arm
    • Assigned to: Minxiao Fu
    • Planned progress: new version for next meeting
  • Vision Unit: design finalization
    • Assigned to: Xidian Zheng
    • Planned progress:new version for next meeting
  • RCM design
    • Assigned to: Jiangran Zhao & Zhengchen Dai


The Endoscopic Surgical Robot

  • Validate the concept of shape-locking


Exoskelton

  • Develop the actuation device to improve the driving capability
  • Help Dong with the experiments of the one-segment exoskeleton


The Prosthetic Hand

  • Summarize expenditures on fabrication
  • Quantify backlashes of the train of gears before and after replacing gears
  • Quantify output errors from the planetary gear system
  • Digital control of the inputs of the planetary gear system
    • Additional structure for installing motors
    • xPC control
  • Improve finger joints
  • Finalize algorithms
    • Manipulate the rehabilitation training balls
    • Try other grasping modes


Intracavity Inspection Arm

  • Kinematics modeling of the intracavity inspection arm with the configuration of 4*2+1:
    • Jacobian derivation
    • Inverse kinematics using updating potential fields
    • Matlab simulation
  • Compare to the 3*3 configuration


Micro Motor

  • Fabrication
    • Assigned to: Guoqing Liu


Kinematics Study

  • Paper study
    • Asigned to Fengjin Chai
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