From Rii
(Difference between revisions)
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= Project Progresses and Tasks = | = Project Progresses and Tasks = | ||
- | == The SAIT SPA Surgical Robot == | + | == <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 == | + | == <span style="color:blue;">The Endoscopic Surgical Robot</span> == |
* Validate the concept of shape-locking | * Validate the concept of shape-locking | ||
- | == Exoskelton == | + | == <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 == | + | == <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 == | + | == <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 == | + | == <span style="color:blue;">Micro Motor</span> == |
* Fabrication | * Fabrication | ||
** ''Assigned to: Guoqing Liu | ** ''Assigned to: Guoqing Liu | ||
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- | == Kinematics Study == | + | == <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