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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


  • 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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