Abstract
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.
Author supplied keywords
Cite
CITATION STYLE
Song, G., Jia, H., Chen, C., Sun, P., Zhao, Y., & Han, J. (2015). Mechanical and control design of a hollow modular joint. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9245, pp. 142–152). Springer Verlag. https://doi.org/10.1007/978-3-319-22876-1_13
Register to see more suggestions
Mendeley helps you to discover research relevant for your work.
