From Rii

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Revision as of 08:52, 28 December 2012

Project Progresses and Tasks

The SAIT SPA Surgical Robot

• Overall arrangement of the whole system.
  • focus: aline direction, tool fast change
  • assigned to：Jiangran Zhao
  • planned progress: new version for next meeting
• Actuation strategy for gripper and needle
  • focus: gear belt
  • assigned to: Jiangran Zhao
  • planned progress: new version for next meeting
• Bellow experiment
  • focus: manufacture ( Bin Jiang)experiment after manufacture
  • assigned to: Minxiao Fu & Jiangran Zhao
  • planned progress: Keep colse contact with the factories.
• Hybrid continuum manufacture and experiment
  • focus: experiment
  • assigned to: Minxiao Fu
  • planned progress: Design a simple testbed for this experiment.
• Control of the one-segment continuum arm
  • focus: xpc coding
  • assigned to: Minxiao Fu
  • planned progress: new version for next meeting
• Vision Unit
  • focus: design and manufacture
  • assigned to: Xidian Zheng
  • planned progress:new version for next meeting
• RCM design
  • focus: ask Dai for his arrangements
  • assigned to: Jiangran Zhao & Zhengchen Dai
  • planned progress:-

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

• 阶段总结（账目）；
• 齿轮链回差测量（新/旧）；
• 驱动轮系/行星轮系输出误差测量；
• 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。
• 实现电机驱动（学习XPC控制，设计并组装电机驱动装置）；
• 算法重新优化，尽量使得输出角度向转球靠拢；
• 如有可能，开拓其他抓取动作；

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