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** 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 | ||
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- | |||
== <span style="color:blue;">Kinematics Study</span> == | == <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