Design of a Reconfigurable Parallel Continuum Robot With Tendon-Actuated Kinematic Chains

Cooperative Continuum Robots: Enhancing Individual Continuum Arms by Reconfiguring Into a Parallel Manipulator

“…• Fully dependent robots cannot operate alone. For example, the spraying robot in [10][11] relies on the other to ignite the flame, and the "snares" in [18] have no capabilities on their own. The choice among these different kinds of robots depends on the scenario, but, overall, cooperation enables a whole new range of applications for continuum robots.…”

“…[14][15][16][17]) cannot be deployed in many challenging scenarios because of their shape factor and short reach. Some parallel continuum robots can adapt their geometry to the task: the base position and orientation of the prototype in [18] can be manually reconfigured to comply with environmental constraints, while the steerable needle in [19] is guided by parallel "snare" limbs to improve its motion control. These systems, however, cannot enter the typical work areas for industrial continuum robots, such as turbines and pipes, which all require a long reach with a narrow access port.…”

Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links

“…Rather than using passively deforming continuum links, a number of PCR designs have been proposed in which the deformation of these links is actively controlled. Prominent example of such PCR designs include are pneumatically actuated soft parallel robots (Hopkins et al, 2015;Lindenroth et al, 2019;Garcia et al, 2021), tendon-driven designs (Lilge et al, 2020;Nuelle et al, 2020;Böttcher et al, 2021) or designs utilizing polymer actuators (Moghadam et al, 2015). Lilge et al 10.3389/frobt.2022.1082185 One particularly interesting and widely used architecture in the realm of rigid parallel kinematic mechanisms (PKM) are planar 3-DOF manipulators, allowing the end-effector positioning and orientation in a plane (Bonev et al, 2003).…”

“…Rather than using passively deforming continuum links, a number of PCR designs have been proposed in which the deformation of these links is actively controlled. Prominent example of such PCR designs include are pneumatically actuated soft parallel robots ( Hopkins et al., 2015 ; Lindenroth et al., 2019 ; Garcia et al., 2021 ), tendon-driven designs ( Lilge et al., 2020 ; Nuelle et al., 2020 ; Böttcher et al., 2021 ) or designs utilizing polymer actuators ( Moghadam et al., 2015 ).…”

A Geometrically Exact Assumed Strain Modes Approach for the Geometrico- and Kinemato-Static Modelings of Continuum Parallel Robots

“…Several planar CPRs of this type have been proposed in [25]- [31] and some spatial robots have been analyzed in [32]- [34]. • CPRs actuated by tendons [35]- [37].…”