From Rii
Project Progresses and Tasks
The SAIT SPA Surgical Robot
- Overall arrangement of the whole system.
- focus: aline direction, tool fast change
- assigned to:Jiangran Zhao
- planned progress: new version for next meeting
- Actuation strategy for gripper and needle
- focus: gear belt
- assigned to: Jiangran Zhao
- planned progress: new version for next meeting
- Bellow experiment
- focus: manufacture ( Bin Jiang)experiment after manufacture
- assigned to: Minxiao Fu & Jiangran Zhao
- planned progress: Keep colse contact with the factories.
- Hybrid continuum manufacture and experiment
- focus: experiment
- assigned to: Minxiao Fu
- planned progress: Design a simple testbed for this experiment.
- Control of the one-segment continuum arm
- focus: xpc coding
- assigned to: Minxiao Fu
- planned progress: new version for next meeting
- Vision Unit
- focus: design and manufacture
- assigned to: Xidian Zheng
- planned progress:new version for next meeting
- RCM design
- focus: ask Dai for his arrangements
- assigned to: Jiangran Zhao & Zhengchen Dai
- planned progress:-
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
- 阶段总结(账目);
- 齿轮链回差测量(新/旧);
- 驱动轮系/行星轮系输出误差测量;
- 重新修改手指关节不完美的地方,粘合手指关节套筒,齿轮等,尽量实现统一化标准化。
- 实现电机驱动(学习XPC控制,设计并组装电机驱动装置);
- 算法重新优化,尽量使得输出角度向转球靠拢;
- 如有可能,开拓其他抓取动作;
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