Abstract
Parallel Continuum Robot, preserves the characteristics of flexibility, safety and agility due to its continuous structural nature. Additionally, the parallel configuration provides enhanced precision and stiffness, making it an increasingly attractive option for applications in confined space operation and human-contact scenarios such as human collaborative robots and surgical robots. In this paper, we proposed a modified design of PCR with enhanced twisting performance including two versions which differ in the arrangement of kinematic joints used at end disc to connect driving rods. Firstly, the modeling procedure based on Cosserat rod theory was developed. Then the twisting performance of the proposed two versions of PCR was evaluated through Matlab simulation including the twisting range, required driving force and torsional stiffness (ability to maintain posture under external moment). Last, the simulation results were discussed and an outlook for the future was provided.
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This work was supported by JST SPRING, Grant Number JPMJSP2106.
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Lei, Y., Jiang, M., Sugahara, Y., Takeda, Y. (2023). Three-Actuated-DOF Parallel Continuum Robot with High Twisting Performance: Cosserat Rod-Based Kineto-Static Modeling and Simulation. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 147. Springer, Cham. https://doi.org/10.1007/978-3-031-45705-0_62
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