Medical Robotics 🤖

Hello! This is an assignment repository for the University of Surrey's Medical Robotics class. You'll find kinematics simulation and workspace analysis for a 4-DOF PincherX 100 robot arm in this repository. I've built the simulations using Peter Corke's Robotics Toolbox in Python. The write-up can be found here on my personal Notion page.

If you are a University of Surrey student, you are welcome to use this project as a learning resource and reference for your coursework. A simple credit to the OC (wee! that's me, Frank) would be greatly appreciated. However, please note that submitting this work as your own academic assignment is not permitted and may lead to academic misconduct penalties. Just make sure you're submitting your orignal work 😊.

Setup 🛠

T️his project uses Python 3.10.7 and Poetry for dependency management. To install the dependencies, run the following command:

cd assignment1
poetry shell
poetry install

I also highly recommend using pyenv to manage your Python versions. If you're a Mac user, you can install pyenv using the following command:

brew install pyenv
pyenv install 3.10.7

For Windows users, you can install pyenv-win using chocolatey or run the following command in PowerShell as an administrator:

Invoke-WebRequest -UseBasicParsing -Uri "https://raw.githubusercontent.com/pyenv-win/pyenv-win/master/pyenv-win/install-pyenv-win.ps1" -OutFile "./install-pyenv-win.ps1"; &"./install-pyenv-win.ps1"

Directory Layout 📖

mr
├── LICENSE
├── README.md
├── assignment1
│   ├── Makefile
│   ├── README.md
│   ├── assignment1
│   ├── assignment1_brief.pdf
│   ├── assignment1_submission.pdf
│   ├── model_files
│   ├── model_files.zip
│   ├── poetry.lock
│   ├── pyproject.toml
│   └── references
├── assignment1.zip
└── practicals
    ├── Medical Robotics Practical 1a.pdf
    ├── Medical Robotics Practical 1b.pdf
    ├── graphics.mat
    ├── lab3.m
    ├── license.txt
    ├── linksdata.mat
    └── puma_simulation.m

You'll find the Trossen PincherX 100 model files in .stl, .step, and .f3d format in the model_files directory. All simulations and workspace analysis are in the assignment1 directory. The practicals directory contains MATLAB files for the practicals.

References 📚

• Peter Corke's Robotics Toolbox in Python
• Interbotix PincherX 100 Arm Specification

License 📃

This project is licensed under the MIT License. This means:

1. Attribution: You must give appropriate credit to the original author (me, Frank Lü) if you use or modify this project.
2. Freedom: You are free to use, modify, and distribute this project, including for commercial purposes, without restriction.
3. No Warranty: This project is provided “as-is” without any warranty or liability on the part of the author.

You can read the full license in the LICENSE file.