Showing papers by "Yili Fu published in 2006"

Path Planning of Cooperative Robotics and Robot Team

Abstract: Four primitive behaviors called move-to-goal, avoid-static-obstacle, avoid-dynamic obstacle and avoid-robot behaviors are introduced for the path planning of multi-robot. This path planning is based on cooperation and inclination intensity algorithm. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully and adapt to unexpected events in the environment. This method also can be used for robot team in formation or even for coordinating multiple robots in the execution of cooperative tasks. The results of simulation show its effectiveness.

Kinematics of Micro Bending Robot Using Shape Memory Alloy for Active Catheter

Abstract: In this paper, a micro bending robot (MBR) for an active catheter which allows any bending direction and bending angle and has a simple structure for miniaturization was developed. The MBR is 1.25 mm in outer diameter. In order to achieve a large bending angle meanwhile not to increase the outer diameter of the MBR too much, the MBR consists of 3 bending units. A bending unit consists of a bias spring and 3 incorporating shape memory alloy (SMA) coil actuators. The bending model of a bending unit was established based on a design chart and equation. Kinematics of a bending unit was analysed, and the position and orientation of the tip center and the displacements of all 3 SMA coil actuators of the bending unit in any bending direction and bending angle were obtained. Finally, the position and orientation of the tip center of the MBR and its bending angle in any bending direction were deduced. The works of this paper help to consummate the design theory of active catheter and has important theoretic significance and practical applied value.

Laparoscopic Robot Design and Kinematic Validation

Abstract: This paper presents a new laparoscopic robot for helping surgeon in minimally invasive surgery Its links and joints designed as individual components are easy detached and maintained In order to demonstrate the robot suitability to develop the task it has been designed for, a validation has been performed This validation consists of calculation of inverse kinematics and task dexterity distribution Finally, simulation basing on the task dexterity distribution is carried out

Development of an Embedded Control Platform of a Continuous Passive Motion Machine

Abstract: In order to control the continuous passive motion (CPM) machine for injured fingers, we develop an embedded control platform. We first bring forward the philosophy of function modularization design for control platforms. Then we actually begin to develop an embedded control platform of the CPM machine by using the method of function modularization. The core of the control platform consists of two main parts: the data acquisition function module and the motor control function module, both are based on the serial peripheral interface (SPI) network. The whole control platform is open-ended for new functions and applications. It can be easily expanded if we add new modules to the SPI network. Primary experiments have proved that the control platform works well and the design method of function modularization provides a new method for the design of control platforms.