深腔作业连续体机器人的运动学分析和力位操控性能综合

51435010
2014
E0501.机器人与机构学
朱向阳
重点项目
教授
上海交通大学
380万元
外部载荷;力位操控性能;连续体机器人;运动学;受限空间
2015-01-01到2019-12-31
  • 中英文摘要
  • 结题摘要
  • 结题报告
  • 项目成果
  • 项目参与人
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序号 标题 类型 作者
1 模块化线绳驱动连续体机械臂 专利 谷国迎;汤磊;朱向阳;朱利民
2 Kinematic Optimization of a Continuum Surgical Manipulator 会议论文 Zhang S;Chen Y;Li Q;Zhao B;Xu K
3 CurviPicker: a Continuum Robot for Pick-and-Place Tasks 期刊论文 Yang Z;Zhao B;Liang B;Zhu X;Xu K
4 Design of a cable-driven hyper-redundant robot with experimental validation 期刊论文 Tang L;Wang J;Zheng Y;Gu G;Zhu L;Zhu X
5 Path Tracking of a Cable-Driven Snake Robot With a Two-Level Motion Planning Method 期刊论文 Tang L;Huang J;Zhu L;Zhu X;Gu G
6 Design of a Modular Continuum-Articulated Laparoscopic Robotic Tool With Decoupled Kinematics 期刊论文 Wu Z;Li Q;Zhao J;Gao J;Xu K
7 基于电活性高弹体聚合物的位移传感器 专利 谷国迎;朱利民;朱向阳
8 一种模块化高冗余多自由度柔性机械臂系统 专利 徐凯;朱向阳;阳志雄;刘欢;朱志军;韩亮亮
9 Development of a dexterous continuum manipulator for exploration and inspection in confined spaces 期刊论文 Liu S;Yang Z;Zhu Z;Han L;Zhu X;Xu K
10 A Single-Actuator Gripper with a Working Mode Switching Mechanism for Grasping and Rolling Manipulation 会议论文 Liu H;Zhang Z;Dong T;Zhu X;Xu K
11 基于电活性聚合物的仿生变形环节机器人 专利 谷国迎;徐亮;陈汉青;董婉婷;朱利民
12 Design of a Cable Driven Floating Robotic Arm with Continuum Joints 会议论文 Wu Z;Cederle M;Giani E;Xu K
13 Continuum Differential Mechanisms and Their Applications in Gripper Designs 期刊论文 Xu K;Liu H
14 超冗余度机械臂跟随末端轨迹运动算法及其性能分析 期刊论文 王俊刚;汤磊;谷国迎;朱向阳
15 A Continuum Manipulator for Continuously Variable Stiffness and Its Stiffness Control Formulation 期刊论文 Zhao B;Zeng L;Wu Z;Xu K
16 An Insertable Low-Cost Continuum Tool for Shape Sensing 会议论文 Xu K;Chen Y;Zhang Z;Zhang S;Xing N;Zhu X
17 A robotic laparoscopic tool with enhanced capabilities and modular actuation 期刊论文 DAI Z;WU Z;ZHAO J;XU K
18 CombX: Design of a Haptic Device for Teleoperation 会议论文 Zhao B;Zhang S;Wu Z;Li Q;Xu K
19 Confined spaces path following for cable-driven snake robots with prediction lookup and interpolation algorithms 期刊论文 TANG L;ZHU L;ZHU X;GU G
20 Serpentine Curve Based Motion Planning Method for Cable-Driven Snake Robots. 会议论文 Tang L;Zhu L;Zhu X;Gu G
21 Design of a haptic master device for teleoperation applications 会议论文 Xu K;Zhao B;Zhang S;Zhang Z;Xing N
22 Continuum Delta Robot: a Novel Translational Parallel Robot with Continuum Joints 会议论文 Yang Z;Zhu X;Xu K
23 Feedforward deformation control of a dielectric elastomer actuator based on a nonlinear dynamic model 期刊论文 Gu G;Gupta U;Zhu J;Zhu L;Zhu X
24 FABRIKc: an Efficient Iterative Inverse Kinematics Solver for Continuum Robots 会议论文 Zhang W;Yang Z;Dong T;Xu K
25 Configuration Transition Control of a Continuum Surgical Manipulator for Improved Kinematic Performance 期刊论文 Zhang S;Li Q;Yang H;Zhao J;Xu K
26 Open-Loop Control of Creep and Vibration in Dielectric Elastomer Actuators With Phenomenological Models 期刊论文 Zou J;Gu G;Zhu L
27 一种模块化的高冗余多自由度柔性机械臂系统 专利 徐凯;朱向阳;阳志雄;刘欢;朱志军;陈煜阳;梁博;赵彬
28 用于线绳传动机械臂的模块化驱动装置设计 期刊论文 汤磊;王俊刚;李琳琳;谷国迎;朱利民;朱向阳
29 基于磁流变弹性体的变刚度介电弹性体驱动器 专利 谷国迎;邹江
30 一种超冗余度蛇形机器人的动力传动机构 专利 朱向阳;刘超;徐凯;盛鑫军;丁树生;郑扬
31 Design and Validation of Multi-Layer Brakes for a Lockable Stand for a Surgical Robotic System 会议论文 Dong T;Chen Y;Zeng L;Liu Z;Xu K
32 多杆连续体机构:构型与应用 期刊论文 徐凯;刘欢
33 A Closed-Loop Controller for Cable-Driven Hyper- Redundant Manipulator with Joint Angle Sensors 会议论文 Wu B;Zeng L;Zheng Y;Zhang X;Zhu X;Xu K
34 运动解耦的绳驱动连续体机械臂及机器人 专利 王俊刚;谷国迎;朱向阳;朱利民;汤磊;李琳琳
35 一种超冗余度蛇形机器人的驱动装置 专利 朱向阳;徐凯;刘超;盛鑫军;郑扬;丁树生
36 线绳传动机械臂的驱动装置 专利 汤磊;谷国迎;朱向阳;朱利民;李琳琳;王俊刚
37 可穿戴软体康复手套及其控制方法、系统 专利 谷国迎;盖利森;陈飞飞;朱向阳
38 Composed Continuum Mechanism for Compliant Mechanical Postural Synergy: An Anthropomorphic Hand Design Example 期刊论文 Xu K;Liu Z;Zhao B;Liu H;Zhu X
39 Preliminary Development of a Continuum Dual-Arm Surgical Robotic System for Transurethral Procedures 会议论文 Xu K;Liang B;Dai Z;Zhao J;Zhao B;Liu H;Xiao L;Sun Y
40 Mobility Characteristics Analysis of a Dual-Continuum-Joint Translator 会议论文 Zeng L;Liu X;Zheng Y;Xu K
41 Model-Based Estimation of the Gravity-Loaded Shape and Scene Depth for a Slim 3-Actuator Continuum Robot with Monocular Visual Feedback 会议论文 Chen Y;Zhang S;Zeng L;Zhu X;Xu K
42 Continuum Manipulator with Redundant Backbones and Constrained Bending Curvature for Continuously Variable Stiffness 会议论文 Zhao B;Zhang W;Zhang Z;Zhu X;Xu K
43 Design of a Sliding-Pin Needle Driver for a Continuum Surgical Robot 会议论文 Zhang Z;Wu Z;Zeng L;Zhang W;Xu K
44 Dimension Reduced Instantaneous Inverse Kinematics for Configuration Variable Limits of Continuum Manipulators 会议论文 Wu Z;Yang H;Liu X;Xu K
45 Reach-to-Grasp Planning for a Synergy-Controlled Robotic Hand Based on Grasp Quality Prediction 会议论文 Liu Z;Wu Z;Dong T;Zhu X;Xu K
46 Design of a Robotic Laparoscopic Tool with Modular Actuation 会议论文 Xu K;Zhang H;Zhao J;Dai Z
47 CombX: Design and experimental characterizations of a haptic device for surgical teleoperation 期刊论文 Zhao B;Zhang S;Wu Z;Yang B;Xu K
48 Wrist-Powered Partial Hand Prosthesis Using a Continuum Whiffle Tree Mechanism: A Case Study 期刊论文 Xu K;Liu H;Zhang Z;Zhu X
49 基于介电弹性体驱动器和静电吸附的爬壁 机器人及方法 专利 谷国迎;邹江
50 Closed Loop Control of a Continuum Surgical Manipulator for Improved Absolute Positioning Accuracy 会议论文 Li Q;Yang H;Chen Y;Xu K
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