A 3-dof parallel continuum robot with large orientation workspace: Modeling, simulation and experiment

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-01-11 DOI:10.1016/j.mechmachtheory.2024.105908

Yuhang Lei, Ming Jiang, Yusuke Sugahara, Yukio Takeda

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引用次数: 0

Abstract

Parallel Continuum Robots (PCRs) offer flexibility, safety, and agility due to their continuous structure. The parallel configuration further enhances precision and stiffness, making them particularly suitable for applications in confined spaces and human-contact environments, such as collaborative and surgical robots. In this paper, we conducted thorough investigation of a novel 3-Degree-of-Freedom PCR design with a large orientation workspace which we have proposed before. We first provided a general kineto-static model based on Kirchhoff rod theory, which is a simplified form of Cosserat rod theory. The workspace of the novel PCR design was then analyzed through MATLAB simulations using the developed kineto-static model. Experiments were conducted to validate the twisting motion ability and investigate the motion of the prototype in comparison to model predictions. Additionally, we analyzed several singularity configurations from the perspective of elastic potential energy. The paper concludes with a summary of the behavior of this design and a discussion of future research directions.

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具有大方位工作空间的三自由度并联连续体机器人：建模、仿真与实验

并联连续机器人（pcr）由于其连续结构而具有灵活性、安全性和敏捷性。平行结构进一步提高了精度和刚度，使它们特别适合在密闭空间和人类接触环境中的应用，例如协作和手术机器人。在本文中，我们对我们之前提出的具有大方向工作空间的新型三自由度PCR设计进行了深入的研究。我们首先基于Kirchhoff杆理论给出了一个一般的动静态模型，这是Cosserat杆理论的简化形式。利用所建立的动静态模型，通过MATLAB仿真分析了新型PCR设计的工作空间。通过实验验证了其扭转运动能力，并与模型预测结果进行了对比。此外，从弹性势能的角度分析了几种奇异构型。论文最后对本次设计的行为进行了总结，并对未来的研究方向进行了讨论。

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry