Parallel-Continuum Robots

A Survey

verfasst von

Sven Lilge, Kathrin Nuelle, Jake A. Childs, Kefei Wen, D. Caleb Rucker, Jessica Burgner-Kahrs

Abstract

Parallel-continuum robots combine the advantages of both parallel and continuum robotics. They offer a compromise between the inherent compliance and slenderness of continuum robots and the high precision and strength of rigid-link parallel robots. Throughout recent years there has been an increasing research interest in these novel architectures, which form closed kinematic chains that feature flexible, continuous links undergoing elastic deformations. As the number of publications in this emerging research field is steadily increasing, this survey article summarizes and reviews the state of the art in parallel-continuum robots, discussing their design and modeling. A definition and notation for parallel-continuum robots is introduced, allowing for a clear classification. In conclusion, current open research questions and possible applications for such robots are discussed.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Externe Organisation(en)

University of Toronto
University of Tennessee, Knoxville
University of British Columbia

Typ

Artikel

Journal

IEEE transactions on robotics

Band

40

Seiten

3252-3270

Anzahl der Seiten

19

ISSN

1552-3098

Publikationsdatum

17.06.2024

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik, Angewandte Informatik, Elektrotechnik und Elektronik

Elektronische Version(en)

https://doi.org/10.1109/TRO.2024.3415230 (Zugang: Geschlossen)