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International Conference on Intelligent Robotics and Applications

ICIRA 2015: Intelligent Robotics and Applications pp 142–152Cite as

Mechanical and Control Design of a Hollow Modular Joint

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9245))

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.

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References

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Author information

Authors and Affiliations

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China

    Guoli Song, Hong Jia, Chen Chen, Yiwen Zhao & Jianda Han

  2. University of Chinese Academy of Sciences, Beijing, 100049, China

    Guoli Song

  3. College of Information Science and Engineering, Northeastern University, Shenyang, 110819, China

    Hong Jia & Peng Sun

Authors
  1. Guoli Song
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  2. Hong Jia
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  3. Chen Chen
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  4. Peng Sun
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  5. Yiwen Zhao
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  6. Jianda Han
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Corresponding author

Correspondence to Chen Chen .

Editor information

Editors and Affiliations

  1. University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  2. Tokyo Metropolitan University, Tokyo, Japan

    Naoyuki Kubota

  3. Shanghai Jiao Tong University, Shanghai, China

    Xiangyang Zhu

  4. Karlsruhe Institute of Technology, Karlsruhe, Germany

    Rüdiger Dillmann

  5. University of Portsmouth, Portsmouth, United Kingdom

    Dalin Zhou

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© 2015 Springer International Publishing Switzerland

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Cite this paper

Song, G., Jia, H., Chen, C., Sun, P., Zhao, Y., Han, J. (2015). Mechanical and Control Design of a Hollow Modular Joint. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9245. Springer, Cham. https://doi.org/10.1007/978-3-319-22876-1_13

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  • DOI: https://doi.org/10.1007/978-3-319-22876-1_13

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22875-4

  • Online ISBN: 978-3-319-22876-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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