Derivation and Evaluation of a Kinetostatic Modeling Approach for Spatial Tendon Driven Parallel Continuum Robots.
Lilge, Sven; Burgner-Kahrs, Jessica
Workshop on New Frontiers of Parallel Robotics. IEEE International Conference on Robotics and Automation, 2022
This paper is concerned with parallel robots that consist of multiple individual continuum manipulators,
that are actuated in bending utilizing tendons routed along their backbones.
A modeling approach to calculate both the forward and inverse kinetostatic problems
of these so called tendon driven parallel continuum robots is derived based on Cosserat rod theory.
The proposed model is validated with experiments on a real robotic prototype.
Overall, a median pose accuracy of 4.9 mm, corresponding to 3.4 % of the continuum
robots' lengths, and 6.4 degrees is achieved.