Kinetostatic Analysis for 6RUS Parallel Continuum Robot Using Cosserat Rod Theory
Paper i proceeding, 2024

Parallel Continuum Robots (PCR) are closed-loop mechanisms but use elastic kinematic links connected in parallel between the end-effector (EE) and the base platform. PCRs are actuated primarily through large deflections of the interconnected elastic links unlike by rigid joints in rigid parallel mechanisms. In this paper, Cosserat rod theory-based forward and inverse kinetostatic models of a 6-RUS PCR are proposed. A set of simulations is performed to analyze the proposed PCR structure, including workspace analysis, maneuverability in three-dimensional space through trajectory following, assessment of inverse kinetostatic solutions for both the xy planar rotation, and evaluation of the force response at the EE platform along the z-axis.

Författare

Vinayvivian Rodrigues

RWTH Aachen University

Deutsches Forschungszentrum fur Kunstliche Intelligenz

Bingbin Yu

Deutsches Forschungszentrum fur Kunstliche Intelligenz

Christoph Stoeffler

Deutsches Forschungszentrum fur Kunstliche Intelligenz

Shivesh Kumar

Deutsches Forschungszentrum fur Kunstliche Intelligenz

Chalmers, Mekanik och maritima vetenskaper, Dynamik

Springer Proceedings in Advanced Robotics

25111256 (ISSN) 25111264 (eISSN)

Vol. 31 SPAR 426-434
9783031640568 (ISBN)

19th Symposium on Advances in Robot Kinematics, ARK 2024
Ljubljana, Slovenia,

Ämneskategorier

Maskinteknik

Elektroteknik och elektronik

DOI

10.1007/978-3-031-64057-5_49

Mer information

Senast uppdaterat

2024-08-14