From Rii
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