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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 | ||
- | ** | + | ** 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> == | ||
+ | * '''Explore concepts of shape-locking | ||
+ | * '''Tissue penetration experiments with force sensing | ||
+ | ** ''Assigned to: Jiangran Zhao | ||
+ | ** Focus: insert angles with force sensing, modeling NiTi suture and tissues | ||
+ | ** Planned progress: March, 2013 | ||
- | + | * '''Loading performance of the continuum arm | |
- | * | + | ** ''Assigned to: Jiangran Zhao |
+ | ** Focus: total length, one or two segments, direction, COMSOL simulation. | ||
+ | ** Planned progress: March, 2013 | ||
+ | * '''Non-circular tool assemble and test | ||
+ | ** ''Assigned to: Jiangran Zhao | ||
+ | ** Focus: geometry modeling and load experiment | ||
+ | ** Planned progress: March, 2013 | ||
+ | * '''Patent writing | ||
+ | ** ''Assigned to: Jiangran Zhao | ||
+ | ** Planned progress: as time is permitted | ||
- | == 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 | ||
Line 53: | Line 70: | ||
- | == 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 | ||
** Inverse kinematics using updating potential fields | ** Inverse kinematics using updating potential fields | ||
** Matlab simulation | ** Matlab simulation | ||
+ | ** Specify the geometry parameters for an industrial application | ||
+ | ** Use simulation results to decide the structure of the robot (mainly the segments lengths) | ||
* Compare to the 3*3 configuration | * Compare to the 3*3 configuration | ||
- | + | == <span style="color:blue;">Kinematics Study</span> == | |
- | + | ||
- | == | + | |
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
* Paper study | * Paper study | ||
** ''Asigned to Fengjin Chai | ** ''Asigned to Fengjin Chai |
Latest revision as of 09:37, 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
- Explore concepts of shape-locking
- Tissue penetration experiments with force sensing
- Assigned to: Jiangran Zhao
- Focus: insert angles with force sensing, modeling NiTi suture and tissues
- Planned progress: March, 2013
- Loading performance of the continuum arm
- Assigned to: Jiangran Zhao
- Focus: total length, one or two segments, direction, COMSOL simulation.
- Planned progress: March, 2013
- Non-circular tool assemble and test
- Assigned to: Jiangran Zhao
- Focus: geometry modeling and load experiment
- Planned progress: March, 2013
- Patent writing
- Assigned to: Jiangran Zhao
- Planned progress: as time is permitted
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
- Specify the geometry parameters for an industrial application
- Use simulation results to decide the structure of the robot (mainly the segments lengths)
- Compare to the 3*3 configuration
Kinematics Study
- Paper study
- Asigned to Fengjin Chai