Design, modeling, and evaluation of parallel continuum robots: A survey

Parallel continuum robots (PCRs) have attracted increasing attention in the robotics community due to their simplicity in structure, inherence with compliance, and easiness of realization. Over the past decade, a variety of novel designs have been reported to enrich their diversity. However, there i...

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Veröffentlicht in:Science China. Technological sciences 2024-03, Vol.67 (3), p.673-695
Hauptverfasser: Chen, GenLiang, Tang, ShuJie, Duan, XuYang, Wang, Hao
Format: Artikel
Sprache:eng
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Zusammenfassung:Parallel continuum robots (PCRs) have attracted increasing attention in the robotics community due to their simplicity in structure, inherence with compliance, and easiness of realization. Over the past decade, a variety of novel designs have been reported to enrich their diversity. However, there is a lack of systematic review of these emerging robots. To this end, this paper conducts a comprehensive survey on the mechanism design, kinetostatic modeling and analysis, and performance evaluation. For these robots, kinetostatic modeling plays a fundamental role throughout the design, analysis, and control stages. A systematic review of the existing approaches for kinetostatic modeling and analysis is provided, and a comparison is made to distinguish their differences. As well, a classification is made according to the characteristics of structure and actuation. In addition, performance evaluation on the workspace, stability, and singularity is also overviewed. Finally, the scenarios of potential applications are elaborated, and future research prospects are discussed. We believe that the information provided in this paper will be particularly useful for those who are interested in PCRs.
ISSN:1674-7321
1869-1900
DOI:10.1007/s11431-023-2547-4