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== The SAIT SPA Surgical Robot == | == The SAIT SPA Surgical Robot == | ||
- | * Overall arrangement of the whole system. | + | * Overall arrangement of the whole system. |
- | ** | + | ** ''Assigned to:Jiangran Zhao |
- | + | ** ''Planned progress: new version for the next meeting | |
- | ** | + | * Actuation mechanism for gripper and needle |
- | * Actuation | + | ** ''Assigned to: Jiangran Zhao |
- | ** | + | ** ''planned progress: new version for next meeting |
- | + | * Bellow fabrication | |
- | ** planned progress: new version for next meeting | + | ** ''Assigned to: Minxiao Fu & Jiangran Zhao |
- | * Bellow | + | ** ''Planned progress: Keep colse contact with the factories. |
- | + | * Hybrid continuum structure | |
- | ** | + | ** Manufacture and experimentation |
- | ** | + | ** ''Assigned to: Minxiao Fu |
- | * Hybrid continuum | + | ** ''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 | |
- | ** | + | |
- | * Vision Unit | + | |
- | + | ||
- | ** | + | |
- | ** | + | |
* RCM design | * RCM design | ||
- | ** | + | ** ''Assigned to: Jiangran Zhao & Zhengchen Dai |
- | + | ||
- | + | ||
Line 47: | Line 40: | ||
== The Prosthetic Hand == | == 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 | ||
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** Matlab simulation | ** Matlab simulation | ||
* Compare to the 3*3 configuration | * Compare to the 3*3 configuration | ||
+ | |||
+ | |||
+ | |||
+ | == Micro Motor == | ||
+ | * Fabrication | ||
+ | ** ''Assigned to: Guoqing Liu | ||
+ | |||
+ | |||
+ | |||
+ | == Kinematics Study == | ||
+ | * Paper study | ||
+ | ** ''Asigned to Fengjin Chai |
Revision as of 13:36, 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