Development of Novel Three-Dimensional Soft Parallel Robot

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

“…Lastly, the velocity equations provided for each PCR design can be useful for controlling the manipulators under constant curvature assumption. We anticipate that our work can be extended to spatial PCR featuring similar individual legs with actuated constant curvature continuum links, such as the designs in ( Garcia et al., 2020 ) and ( Garcia et al., 2021 ), in a straightforward manner.…”

“…Throughout this work, we assume that the length of each link is fixed, while the bending can be actively controlled. We further assume, that bending occurs in arcs with a constant curvature, which is a common assumption for a variety of actuation methods ( Webster III and Jones, 2010 ), e.g., utilizing tendons ( Rao et al., 2021 ), multi-backbones ( Simaan et al., 2004 ), push-pull rods ( Oliver-Butler et al., 2021 ), polymer actuators ( Moghadam et al., 2015 ) or pneumatic actuators ( Garcia et al., 2020 ; 2021 ). We do not consider additional methods of actuation, such as translating or rotating the bases of the continuum links, a practice often done in PCR with passively deforming 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 ).…”