Design, modeling, and evaluation of parallel continuum robots: A survey

Chen, GenLiang; Tang, ShuJie; Duan, XuYang; Wang, Hao

doi:10.1007/s11431-023-2547-4

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2024

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Cited by 2 publications

References 122 publications

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Elastic Pyramid Elements for Constructing Spherical Parallel Continuum Robots

Duan,

Yan,

Wang

et al. 2024

2024 7th International Conference on Intelligent Robotics and Control Engineering (IRCE)

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Elastic Pyramid Elements for Constructing Spherical Parallel Continuum Robots

Duan,

Yan,

Wang

et al. 2024

2024 7th International Conference on Intelligent Robotics and Control Engineering (IRCE)

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Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator

Duan,

Yan,

Yan

et al. 2024

Journal of Mechanisms and Robotics

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In this paper, a spherical parallel continuum manipulator (SPCM) which is the flexible version of the 3-RRR“Agile Eye” mechanism is proposed and analyzed. The SPCM consists of three parallel flexible limbs, each limb is formed by compliant truncated cone elements, and the moving platform connects each limb with a passive revolute joint. Three servo motors are used to control the manipulator actively, and the spherical motion is realized by the coupled large deflections of the flexible links. An equivalent compliance analysis method of the element is developed based on finite element analysis and principal axis decomposition. By combining all three limbs, the kinetostatics model of the whole manipulator is derived, and a gradient iteration algorithm is developed to solve the forward and inverse kinetostatics. Finally, a prototype of the manipulator is constructed using 3D-printing technology, and the accuracy for element equivalence and end-effector characteristics is validated by experiments. The results show that the derived kinetostatics model can accurately describe the force–deflection behavior of the SPCM.

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Design, modeling, and evaluation of parallel continuum robots: A survey

Cited by 2 publications

References 122 publications

Elastic Pyramid Elements for Constructing Spherical Parallel Continuum Robots

Elastic Pyramid Elements for Constructing Spherical Parallel Continuum Robots

Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator

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