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== <span style="color:blue;">The SAIT SPA Surgical Robot</span> == | == <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 | ||
- | ** | + | ** Planned progress: new version for the next meeting |
- | * Actuation mechanism for gripper and needle | + | * '''Actuation mechanism for gripper and needle |
** ''Assigned to: Jiangran Zhao | ** ''Assigned to: Jiangran Zhao | ||
- | ** | + | ** planned progress: new version for next meeting |
- | * Bellow fabrication | + | * '''Bellow fabrication |
** ''Assigned to: Minxiao Fu & Jiangran Zhao | ** ''Assigned to: Minxiao Fu & Jiangran Zhao | ||
- | ** | + | ** Focus: manufacture (Bin Jiang & Pai Ni) experiment after manufacture. Tool assemble and experiment. |
- | * Hybrid continuum structure | + | ** Planned progress: Conclusion before Feb 1st. |
- | + | * '''Hybrid continuum structure | |
** ''Assigned to: Minxiao Fu | ** ''Assigned to: Minxiao Fu | ||
- | ** | + | ** Planned progress: Design a simple testbed for this experiment. |
- | + | * '''Vision unit: manufacture | |
- | + | ||
- | + | ||
- | + | ||
** ''Assigned to: Xidian Zheng | ** ''Assigned to: Xidian Zheng | ||
- | ** | + | ** Planned progress: fabrication results before Mar 5th |
- | * RCM design | + | * '''RCM design |
** ''Assigned to: Jiangran Zhao & Zhengchen Dai | ** ''Assigned to: Jiangran Zhao & Zhengchen Dai | ||
- | + | * '''Six channel control board | |
- | + | ** ''Assigned to: Minxiao Fu | |
+ | ** Plug cards into new control workstation | ||
+ | ** Sold components to the customized card from Hangzhou | ||
+ | ** Tests | ||
== <span style="color:blue;">The Endoscopic Surgical Robot</span> == | == <span style="color:blue;">The Endoscopic Surgical Robot</span> == |
Revision as of 09:21, 22 January 2013
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
- Focus: manufacture (Bin Jiang & Pai Ni) experiment after manufacture. Tool assemble and experiment.
- Planned progress: Conclusion before Feb 1st.
- Hybrid continuum structure
- Assigned to: Minxiao Fu
- Planned progress: Design a simple testbed for this experiment.
- Vision unit: manufacture
- Assigned to: Xidian Zheng
- Planned progress: fabrication results before Mar 5th
- RCM design
- Assigned to: Jiangran Zhao & Zhengchen Dai
- Six channel control board
- Assigned to: Minxiao Fu
- Plug cards into new control workstation
- Sold components to the customized card from Hangzhou
- Tests
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