A Novel 6-DOF Parallel Continuum Robot with Enhanced Reachable Workspace and Range of Twisting

摘要

The Parallel Continuum Robot (PCR) is an emerging class of soft robotics distinguished by features such as flexibility, safety, compactness, and dexterity attributed to their continuous components, meanwhile their lack of precision and stiffness are compensated by the parallel configuration. These inherent advantages position PCR as a potential choice for applications ranging from flexible bio-mimetic robots like an elephant trunk to scenarios requiring human contact, such as the manipulator of a minimally invasive surgical robot. In this paper, we propose a novel PCR design capable of achieving 6 degree-of-freedom control of the end effector, with an augmented reachable workspace and range of twisting. We present a theoretical modeling approach for this mechanism, and the merits of our design are demonstrated through simulation results, offering a comparative analysis against the conventional Stewart-Gough pattern design. Then, its capability of large-range twisting motion is validated with a prototype.