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题名: Mechanical and Control Design of a Hollow Modular Joint
作者: Song GL(宋国立); Jia H(贾鸿); Chen C(陈晨); Sun P(孙鹏); Zhao YW(赵忆文); Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: 8th International Conference on Intelligent Robotics and Applications (ICIRA)
会议日期: AUG 24-27, 2015
会议地点: Portsmouth, ENGLAND
会议录: INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT II
会议录出版者: SPRINGER-VERLAG
会议录出版地: BERLIN
出版日期: 2015
页码: 142-152
收录类别: EI ; CPCI(ISTP)
ISSN号: 0302-9743
ISBN号: 978-3-319-22876-1; 978-3-319-22875-4
关键词: Hollow modular joint ; Redundant robot ; Mechanical design ; Control
摘要: 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.
语种: 英语
产权排序: 1
WOS记录号: WOS:000363957900013
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17213
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Song GL,Jia H,Chen C,et al. Mechanical and Control Design of a Hollow Modular Joint[C]. 见:8th International Conference on Intelligent Robotics and Applications (ICIRA). Portsmouth, ENGLAND. AUG 24-27, 2015.
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文件名: Mechanical and Control Design of a Hollow Modular Joint.pdf
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