Progress

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== The SAIT SPA Surgical Robot ==
== The SAIT SPA Surgical Robot ==
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* Overall arrangement of the whole system.  
+
* Overall arrangement of the whole system.
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** focus: aline direction, tool fast change
+
** ''Assigned to：Jiangran Zhao
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** assigned to：Jiangran Zhao
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** ''Planned progress: new version for the next meeting
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** planned progress: new version for next meeting
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* Actuation mechanism for gripper and needle
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* Actuation strategy for gripper and needle
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** ''Assigned to: Jiangran Zhao
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** focus: gear belt
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** ''planned progress: new version for next meeting
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** assigned to: Jiangran Zhao
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* Bellow fabrication
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** planned progress: new version for next meeting
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** ''Assigned to: Minxiao Fu & Jiangran Zhao
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* Bellow experiment
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** ''Planned progress: Keep colse contact with the factories.
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** focus: manufacture ( Bin Jiang)experiment after manufacture
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* Hybrid continuum structure
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** assigned to: Minxiao Fu & Jiangran Zhao
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** Manufacture and experimentation
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** planned progress: Keep colse contact with the factories.
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** ''Assigned to: Minxiao Fu
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* Hybrid continuum manufacture and experiment
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** ''Planned progress:  Design a simple testbed for this experiment.
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** focus: experiment
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* xPC control of the one-segment continuum arm
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** assigned to: Minxiao Fu
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** ''Assigned to: Minxiao Fu
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** planned progress:  Design a simple testbed for this experiment.
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** ''Planned progress: new version for next meeting
-
* Control of the one-segment continuum arm
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* Vision Unit: design finalization
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** focus: xpc coding
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** ''Assigned to: Xidian Zheng
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** assigned to: Minxiao Fu
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** ''Planned progress:new version for next meeting
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** planned progress: new version for next meeting
+
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* Vision Unit  
+
-
** focus: design and manufacture
+
-
** assigned to: Xidian Zheng
+
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** planned progress:new version for next meeting
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* RCM design
* RCM design
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** focus: ask Dai for his arrangements
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** ''Assigned to: Jiangran Zhao & Zhengchen Dai
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** assigned to: Jiangran Zhao & Zhengchen Dai
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** planned progress:-
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== The Prosthetic Hand ==
== The Prosthetic Hand ==
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* 阶段总结（账目）；
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* Summarize expenditures on fabrication
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* 齿轮链回差测量（新/旧）；
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* Quantify backlashes of the train of gears before and after replacing gears
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* 驱动轮系/行星轮系输出误差测量；
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* Quantify output errors from the planetary gear system
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* 重新修改手指关节不完美的地方，粘合手指关节套筒，齿轮等，尽量实现统一化标准化。
+
* Digital control of the inputs of the planetary gear system
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* 实现电机驱动（学习XPC控制，设计并组装电机驱动装置）；
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** Additional structure for installing motors
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* 算法重新优化，尽量使得输出角度向转球靠拢；
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** xPC control
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* 如有可能，开拓其他抓取动作；
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* Improve finger joints
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* Finalize algorithms
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** Manipulate the rehabilitation training balls
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** Try other grasping modes
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** Matlab simulation
** Matlab simulation
* Compare to the 3*3 configuration
* Compare to the 3*3 configuration
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 +
 +
 +
== Micro Motor ==
 +
* Fabrication
 +
** ''Assigned to: Guoqing Liu
 +
 +
 +
 +
== Kinematics Study ==
 +
* Paper study
 +
** ''Asigned to Fengjin Chai

Revision as of 13:36, 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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