Design,modeling,and evaluation of parallel continuum robots:A survey

CHEN GenLiang ¹TANG ShuJie ²DUAN XuYang ³WANG Hao⁴

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作者信息

1. Meta Robotics Institute,Shanghai Jiao Tong University,Shanghai 200240,China;State Key Laboratory of Mechanical Systems and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China
2. Meta Robotics Institute,Shanghai Jiao Tong University,Shanghai 200240,China;Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures,Shanghai Jiao Tong University,Shanghai 200240,China
3. Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures,Shanghai Jiao Tong University,Shanghai 200240,China
4. State Key Laboratory of Mechanical Systems and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China;Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures,Shanghai Jiao Tong University,Shanghai 200240,China
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Abstract

Parallel continuum robots(PCRs)have attracted increasing attention in the robotics community due to their simplicity in structure,inherence with compliance,and easiness of realization.Over the past decade,a variety of novel designs have been reported to enrich their diversity.However,there is a lack of systematic review of these emerging robots.To this end,this paper conducts a comprehensive survey on the mechanism design,kinetostatic modeling and analysis,and performance evaluation.For these robots,kinetostatic modeling plays a fundamental role throughout the design,analysis,and control stages.A systematic review of the existing approaches for kinetostatic modeling and analysis is provided,and a comparison is made to distinguish their differences.As well,a classification is made according to the characteristics of structure and actuation.In addition,performance evaluation on the workspace,stability,and singularity is also overviewed.Finally,the scenarios of potential applications are elaborated,and future research prospects are discussed.We believe that the information provided in this paper will be particularly useful for those who are interested in PCRs.

Key words

parallel continuum robots/classification/kinetostatic modeling/performance evaluation

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基金项目

国家重点研发计划(2022YFB4701200)

国家自然科学基金(52022056)

国家自然科学基金(51875334)

Innovation Foundation of the Manufacturing Engineering Technology Research Center of Commercial Aircraft Corporation of Chin(COMAC-SFGS-2023-41)

出版年

2024

中国科学:技术科学(英文版)

中国科学院

中国科学:技术科学(英文版)

CSTPCDEI

影响因子：1.056

ISSN：1674-7321

参考文献量139

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