Parallel continuum manipulators - Balancing structure dependent drawbacks by combining parallel and continuum robots

该项目的目的是研究并联连续体机械手-一种基于并联和连续体机器人共生的新型机器人。该研究基于连续运动链并联机器人具有比传统并联机器人更大的工作空间和更高的灵活性以及在无奇异工作空间中的均匀性能的假设。由于精细的连续链平行排列，机械手可以承受更高的力在一个较低的重量相比，串行continuous robots.In第一步，潜在的并行连续体结构必须在概念上开发和分类的一般符号。在第二步中，特征和参数来量化的性能的并联连续体机械手的运动学的数学模型的基础上确定。基于此模型的假设证明的概念类的并联连续体机器人，最后建成的操作原型，以证明可行性。

The aim of this project is the investigation of parallel continuum manipulators - a novel category of robots based on the symbiosis of parallel and continuum robots. This research is based on the hypothesis that parallel robot with continuous kinematic chains exhibit a larger workspace with higher dexterity than classic parallel robots and a homogeneous performance in a singularity free workspace. As delicate continuous chains are arranged in parallel, the manipulator can withstand higher forces at a low weight in comparison to serial continuum robots.In a first step, potential parallel continuum structures have to be conceptually developed and classified with a general notation. In a second step, characteristics and parameters to quantify the performance of parallel continuum manipulators are determined based on a mathematical model of the kinematics. Conceptual classes of parallel continuum manipulators are derived from this model-based hypothesis proof which are finally built as operational prototypes to demonstrate feasibility.