Optimal work space of parallel continuum manipulator consisting of compact bionic handling arms

Abstract

Abstract-Parallel continuum manipulators are the main research focus these days. Parallel manipulators have other advantages than serial manipulators in terms of acceleration and positioning. In this work, we proposed the use of two Compact Bionic Handling Arm (CBHA) manipulators, attaching them to a common platform, to constitute a parallel continuum manipulator. A relation is developed for optimal platform length as a function of the inter-distance between bases of two arms, by using optimization of the volume of the common work space realized from multiple CBHA. The work is extended to parallel continuum manipulator consisting of three CBHA manipulators. Same for this case, after identifying work space of this parallel continuum manipulator, a relation is developed between different design parameters of manipulator using optimization of volume of its work space. As the work space is the main limitation in case of parallel manipulators, this approach to generate relation is useful for rigid as well as continuum manipulators to design them for optimal work space as per required application.

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

“…2) Bending and leg length-varying PCRs: Pneumatically actuated two-segment continuum segments are integrated in PCRs with two and three kinematic chains [12]. The actuators actively bend and vary its leg length while coupled to the end-effector platform by spherical joints.…”

“…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.…”

Workspace Evaluation of Robotino-XT Under Reconfiguration

“…Li and Du [9] had expanded the workspace of under-actuated flexible manipulator under bilateral and unilateral constraints. Singh et al [10] had obtained the workspace of two and three CBHA parallel configuration. Burgner et al [11] applied Monte Carlo methodology to compute and characterize the workspace of concentric tube robots.…”

Towards Accurate Shape Reconstruction of Compact Bionic Handling Arm

“…Different forward kinematic models (FKMs) for CBHA manipulator are discussed and also compared regarding accuracies in [4]. A combination of optimization and pattern recognition is used to find optimal setting for multiple CBHAs in parallel configuration in [5]. In [6], a geometrical model is developed for OctArm V manipulator using cosserat rod theory and a fiber reinforced model.…”