Details
| Original language | English |
|---|---|
| Pages (from-to) | 3252-3270 |
| Number of pages | 19 |
| Journal | IEEE transactions on robotics |
| Volume | 40 |
| Publication status | Published - 17 Jun 2024 |
Abstract
Parallel-continuum robots combine the advantages of both parallel and continuum robotics. They offer a compromise between the inherent compliance and slenderness of continuum robots and the high precision and strength of rigid-link parallel robots. Throughout recent years there has been an increasing research interest in these novel architectures, which form closed kinematic chains that feature flexible, continuous links undergoing elastic deformations. As the number of publications in this emerging research field is steadily increasing, this survey article summarizes and reviews the state of the art in parallel-continuum robots, discussing their design and modeling. A definition and notation for parallel-continuum robots is introduced, allowing for a clear classification. In conclusion, current open research questions and possible applications for such robots are discussed.
Keywords
- Continuum robot, flexible links, parallel robot, parallel-continuum robot (PCR), soft robotics
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Computer Science Applications
- Engineering(all)
- Electrical and Electronic Engineering
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In: IEEE transactions on robotics, Vol. 40, 17.06.2024, p. 3252-3270.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Parallel-Continuum Robots
T2 - A Survey
AU - Lilge, Sven
AU - Nuelle, Kathrin
AU - Childs, Jake A.
AU - Wen, Kefei
AU - Rucker, D. Caleb
AU - Burgner-Kahrs, Jessica
N1 - Publisher Copyright: © 2004-2012 IEEE.
PY - 2024/6/17
Y1 - 2024/6/17
N2 - Parallel-continuum robots combine the advantages of both parallel and continuum robotics. They offer a compromise between the inherent compliance and slenderness of continuum robots and the high precision and strength of rigid-link parallel robots. Throughout recent years there has been an increasing research interest in these novel architectures, which form closed kinematic chains that feature flexible, continuous links undergoing elastic deformations. As the number of publications in this emerging research field is steadily increasing, this survey article summarizes and reviews the state of the art in parallel-continuum robots, discussing their design and modeling. A definition and notation for parallel-continuum robots is introduced, allowing for a clear classification. In conclusion, current open research questions and possible applications for such robots are discussed.
AB - Parallel-continuum robots combine the advantages of both parallel and continuum robotics. They offer a compromise between the inherent compliance and slenderness of continuum robots and the high precision and strength of rigid-link parallel robots. Throughout recent years there has been an increasing research interest in these novel architectures, which form closed kinematic chains that feature flexible, continuous links undergoing elastic deformations. As the number of publications in this emerging research field is steadily increasing, this survey article summarizes and reviews the state of the art in parallel-continuum robots, discussing their design and modeling. A definition and notation for parallel-continuum robots is introduced, allowing for a clear classification. In conclusion, current open research questions and possible applications for such robots are discussed.
KW - Continuum robot
KW - flexible links
KW - parallel robot
KW - parallel-continuum robot (PCR)
KW - soft robotics
UR - http://www.scopus.com/inward/record.url?scp=85196730008&partnerID=8YFLogxK
U2 - 10.1109/TRO.2024.3415230
DO - 10.1109/TRO.2024.3415230
M3 - Article
AN - SCOPUS:85196730008
VL - 40
SP - 3252
EP - 3270
JO - IEEE transactions on robotics
JF - IEEE transactions on robotics
SN - 1552-3098
ER -