Elastic Pyramid Elements for Constructing Spherical Parallel Continuum Robots

This paper proposes a novel approach to designing Parallel Continuum Robots (PCRs) with spherical movement. Pyramid elastic units are used to construct limbs with special kinematic characteristics for the PCR. By developing and characterizing various elastic units with unique mechanical properties b...

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Bibliographic Details
Main Authors: Duan, Xuyang, Yan, Tianyi, Wang, Yanjun, Chen, Genliang, Wang, Hao
Format: Conference Proceeding
Language:English
Subjects:
Accuracy
Analytical models
compliance analysis
Computational modeling
Continuum robots
elastic units
Finite element analysis
kinetostatics
Mathematical models
Matrix decomposition
Numerical models
parallel continuum robot
Robot motion
Three-dimensional printing
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Summary:This paper proposes a novel approach to designing Parallel Continuum Robots (PCRs) with spherical movement. Pyramid elastic units are used to construct limbs with special kinematic characteristics for the PCR. By developing and characterizing various elastic units with unique mechanical properties based on finite element analysis (FEA), we can identify effective designs for targeted robot motion. The kinetostatics model of the limbs is built based on the compliance analysis of the units, enabling the forward and inverse kinetostatics modeling of the whole robot. A series of 3-rotational PCRs are established using the designed elastic units, and mathematical experiments and simulations are conducted based on the selected units and PCRs. The computational results demonstrate good accordance with numerical analysis outcomes.
ISSN:2770-4815
DOI:10.1109/IRCE62232.2024.10739798