Mechanical and Control Design of a Hollow Modular Joint
文献类型：会议论文
| 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)
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| 出版日期 | 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
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| 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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