Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links

Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links

This paper presents the singularity analysis of 3-DOF planar parallel continuum robots (PCR) with three identical legs. Each of the legs contains two passive conventional rigid 1-DOF joints and one actuated planar continuum link, which bends with a constant curvature. All possible PCR architectures...

Full description

Bibliographic Details
Main Authors: Sven Lilge, Kefei Wen, Jessica Burgner-Kahrs
Format: Article
Language:English
Published: Frontiers Media S.A. 2023-01-01
Series:Frontiers in Robotics and AI
Subjects:
flexible links
parallel robots
continuum robots
kinematics
singularity analysis
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2022.1082185/full

Similar Items

Similar Items