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Mechanical and Control Design of a Hollow Modular Joint
Song GL(宋国立)1,2; Jia H(贾鸿)1,3; Chen C(陈晨)1; Sun P(孙鹏)3; Zhao YW(赵忆文)1; Han JD(韩建达)1
Department机器人学研究室
Conference Name8th International Conference on Intelligent Robotics and Applications (ICIRA)
Conference DateAUG 24-27, 2015
Conference PlacePortsmouth, ENGLAND
Source PublicationINTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT II
PublisherSPRINGER-VERLAG
Publication PlaceBERLIN
2015
Pages142-152
Indexed ByEI ; CPCI(ISTP)
EI Accession number20155301741247
WOS IDWOS:000363957900013
Contribution Rank1
ISSN0302-9743
ISBN978-3-319-22876-1; 978-3-319-22875-4
KeywordHollow Modular Joint Redundant Robot Mechanical Design Control
Abstract

Design of the hollow modular joint plays an important role in modern robot layout, fix and wiring. This paper designed a novel hollow modular joint which can meet the requirement of the slave hand of a Minimally Invasive Surgical robot. The mechanical and control design is illustrated sequentially. The torque sensor and its optimization are given. To analyze the designed module, the simulation of the redundant slave robot which is composed by the designed joint in 7 DOF is presented. The results of analyses show that the designed hollow modular joint is valid.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17213
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.College of Information Science and Engineering, Northeastern University, Shenyang, China
Recommended Citation
GB/T 7714
Song GL,Jia H,Chen C,et al. Mechanical and Control Design of a Hollow Modular Joint[C]. BERLIN:SPRINGER-VERLAG,2015:142-152.
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