Parallel Continuum Mechanisms are closed-loop mechanical systems formed by flexible rods connected to a rigid end-effector and actuated from the base attachments of such rods. It was shown in previous works that they have analogous kinematic features to rigid-link parallel mechanisms. Position analysis is a force equilibrium problem with a multiplicity of solutions. These correspond to distinct aspects of workspaces, delimited by singularity curves. Equilibrium poses need further analysis to verify their stability, i.e. if the stationary solution is a local minima of the potential energy of the device. This conference paper investigates singularity and instability issues to understand the behavior of the mechanism in such poses.


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    Title :

    On Singularity and Instability in a Planar Parallel Continuum Mechanism


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

    International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020



    Publication date :

    2020-07-18


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English