On Constraints and Parasitic Motions of a Tripod Parallel Continuum Manipulator

On Constraints and Parasitic Motions of a Tripod Parallel Continuum Manipulator

A parallel continuum manipulator (PCM) is a mechanism of closed-loop morphology with flexible elements such that their deformation contributes to its mobility. Flexible hexapods are six-degrees-of-freedom (DoF) fully parallel continuum mechanisms already presented in the literature. Devices of reduc...

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Bibliographic Details
Main Authors: Oscar Altuzarra, Luigi Tagliavini, Yuhang Lei, Victor Petuya, Jose Luis Ruiz-Erezuma
Format: Article
Language:English
Published: MDPI AG 2023-01-01
Series:Machines
Subjects:
parallel continuum manipulators
reduced mobility
tripod
parasitic motions
kinematic constraints
Online Access:https://www.mdpi.com/2075-1702/11/1/71

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