Mechanical and Control Design of a Hollow Modular Joint

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Mechanical and Control Design of a Hollow Modular Joint
	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)
	2015
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
关键词	Hollow modular joint Redundant robot Mechanical design Control
页码	142-152
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
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
语种	英语
ISSN号	0302-9743
ISBN号	978-3-319-22876-1; 978-3-319-22875-4
WOS记录号	WOS:000363957900013
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17213]
专题	沈阳自动化研究所_机器人学研究室
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]. 见:8th International Conference on Intelligent Robotics and Applications (ICIRA). Portsmouth, ENGLAND. AUG 24-27, 2015.