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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
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
会议录名称INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT II
出版者SPRINGER-VERLAG
出版地BERLIN
2015
页码142-152
收录类别EI ; CPCI(ISTP)
EI收录号20155301741247
WOS记录号WOS:000363957900013
产权排序1
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
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17213
专题机器人学研究室
作者单位1.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
推荐引用方式
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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