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Mechanical Design and Control Method of a Hollow Modular Joint for Minimally Invasive Spinal Surgery
Song GL(宋国立)1; Hou C(侯澈)1,2; Zhao YW(赵忆文)1; Zhao XG(赵新刚)1; Han JD(韩建达)1,3
Department机器人学研究室
Source PublicationINTERNATIONAL JOURNAL OF HUMANOID ROBOTICS
ISSN0219-8436
2018
Volume15Issue:4Pages:1-27
Indexed BySCI ; EI
EI Accession number20183305689496
WOS IDWOS:000441066200005
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China ; National Key R&D Program of China
KeywordHollow modular joint redundant robot mechanical design control
AbstractDesign of the hollow modular joint plays an important role in modern robot layout, fixation, and wiring. In this paper, a hollow modular joint that meets the requirement of a minimally invasive surgical robot is proposed. The mechanical and control design is sequentially illustrated, and the torque sensor and its optimization are provided. Furthermore, a free-force control method is introduced. To analyze the designed module, the simulation of the redundant robot, comprised of the designed joint in seven degrees of freedom, is presented. The results of analyses showed that the designed hollow modular joint is valid and effective.
Language英语
WOS SubjectRobotics
WOS KeywordROBOT
WOS Research AreaRobotics
Funding ProjectNational Natural Science Foundation of China[61703394] ; National Natural Science Foundation of China[61573340] ; National Key R&D Program of China[2017YFB1303000]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/22427
Collection机器人学研究室
Corresponding AuthorSong GL(宋国立)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049,China
3.Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300071, China
Recommended Citation
GB/T 7714
Song GL,Hou C,Zhao YW,et al. Mechanical Design and Control Method of a Hollow Modular Joint for Minimally Invasive Spinal Surgery[J]. INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS,2018,15(4):1-27.
APA Song GL,Hou C,Zhao YW,Zhao XG,&Han JD.(2018).Mechanical Design and Control Method of a Hollow Modular Joint for Minimally Invasive Spinal Surgery.INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS,15(4),1-27.
MLA Song GL,et al."Mechanical Design and Control Method of a Hollow Modular Joint for Minimally Invasive Spinal Surgery".INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 15.4(2018):1-27.
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