Continuum Delta Robot: a Novel Translational Parallel Robot with Continuum Joints

Yang, Zhixiong; Zhu, Xiangyang; Xu, Kai

doi:10.1109/aim.2018.8452695

Cited by 24 publications

(11 citation statements)

References 37 publications

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“…3) Passive continuum PCRs: A compliant Delta robot with spatial workspace is introduced in [13]. Each of the three robot chains consists of a rigid link with two mechanically coupled passive continuum segments at its ends.…”

Section: A Related Workmentioning

confidence: 99%

“…In addition, modeling approaches for PCR mainly base on kineto-static based assumptions, describing the robot either in discretized lumped parameter form or as a deformable rod or beam. Simpler geometry based constant curvature approaches, which assume that bending of continuous backbone occurs in constant curvature arcs [21], are used in only a few publications for either passive continuum segments [13] or solely in modeling [12]. Active continuum components in PCR have not been evaluated using the constant curvature assumption.…”

Section: A Related Workmentioning

confidence: 99%

“…Wu et al determined positioning accuracy of 0.43% with their kinetostatically modeled PCR in [8] and 0.8% in [9], respectively. For the Delta continuum robot in [13], modeled based on the constant curvature approach, an accuracy of 0.8% -2.5% was determined (calculated as a relative value from data in the paper). Chen et al point out a positioning accuracy of 0.45% in [30], using a discretization-based model approach.…”

Section: A Achieved Positioning Accuracy and Repeatabilitymentioning

confidence: 99%

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Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot

Nuelle

Sterneck

Lilge

et al. 2020

IEEE Robot. Autom. Lett.

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In this work, a novel planar parallel continuum robot (PCR) is introduced, consisting of three kinematic chains that are coupled at a triangular end-effector platform and include tendon-actuated continuum segments. The kinematics of the resulting structure are derived by adapting the descriptions for conventional planar parallel manipulators to include constant curvature bending of the utilized continuous segments. To account for friction and non-linear material effects, a data-driven model is used to relate tendon displacements and curvature of the utilized continuum segments. A calibration of the derived kinematic model is conducted to specifically represent the constructed prototype. This includes the calibration of geometric parameters for each kinematic chain and for the end-effector platform.During evaluation, positioning repeatability of 1.0% in relation to one continuum segment length of the robot, and positioning accuracy of 1.4%, are achieved. These results are comparable to commonly used kineto-static modeling approaches for PCR. The presented model achieves high path accuracies regarding the robot's end-effector pose in an open-loop control scenario.

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Section: A Related Workmentioning

confidence: 99%

Section: A Related Workmentioning

confidence: 99%

Section: A Achieved Positioning Accuracy and Repeatabilitymentioning

confidence: 99%

See 1 more Smart Citation

Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot

Nuelle

Sterneck

Lilge

et al. 2020

IEEE Robot. Autom. Lett.

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“…The flexibility of the limbs provides large continuous deformations that allow for a large workspace. Yang et al proposed a continuum version of the Delta robot whose continuous joints allow larger rotations than usual joints (Yang et al, 2018). Flexible elements allow to reduce the number of joints and eliminate the mechanical plays (Black et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

“…The accuracy is interesting for a spatial PCR even if it is limited by the actuation system whose positioning accuracy is about 0.1 mm. The actuation system is also one of the main uncertainty sources for the positioning accuracy calculated from the data presented in (Yang et al, 2018). In the studies of Wu et al (Wu and Shi, 2019;Wu et al, 2017), several reasons were pointed out like the small construction and assembly tolerances or the friction forces that were not took into consideration.…”

Section: Introductionmentioning

confidence: 99%

Micrometer Positioning Accuracy With a Planar Parallel Continuum Robot

Mauzé

Laurent²,

Dahmouche³

et al. 2021

Front. Robot. AI

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Parallel Continuum Robots (PCR) have several advantages over classical articulated robots, notably a large workspace, miniaturization capabilities and safe human-robot interactions. However, their low accuracy is still a serious drawback. Indeed, several conditions have to be met for PCR to reach a high accuracy, namely: a repeatable mechanical structure, a correct kinematic model, and a proper estimation of the model’s parameters. In this article, we propose a methodology that allows reaching a micrometer accuracy with a PCR. This approach emphasizes the importance of using a repeatable continuum mechanism, identifying the most influential parameters of an accurate kinematic model of the robot and precisely measuring them. The experimental results show that the proposed approach allows to reach an accuracy of 3.3 µm in position and 0.5 mrad in orientation over a 10 mm long circular path. These results push the current limits of PCR accuracy and make them good potential candidates for high accuracy automatic positioning tasks.

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