Kinetostatic Analysis of a 6-RUS Parallel Continuum Robot

Continuum manipulators have historically been considered serial devices, perhaps because they
typically have a long slender form, and the dominant geometric modeling paradigm is constant
curvature arc segments tangentially connected in series. However, as some researchers have noted,
many continuum designs also contain aspects resembling parallel architectures. For example, mul-
tiple entities are often constrained and connected in parallel within a single arc segment to achieve
2-DOF bending actuation (e.g. pneumatic muscles multi-backbone designs multiple embedded
tendons and concentric precurved tubes. In my thesis, I seek to explore the 6-RUS Parallel Con-
tinuum Robot (PCR) which consists of passive flexible link connected to the end-effector through
spherical joint and connected to rigid part through an universal joint

The goal of the thesis is to develop a Cosserat rod theory based Kinetostatic modelling frame-
work for 6-RUS PCR. The state differential equations is to be solved for each flexible leg which
tracks their deformation independently. Also boundary conditions (BC) must be defined at both
the end-effector and the base position which provides the formulation of the physical constraints
that is inherent to the closed loop robot structure. Meeting these conditions creates a boundary
value problem (BVP). This BVP can be solved using a shooting method which iteratively solves
the independent sets of equations for each leg along with their coupled BC. This process should
eventually result in a visualising the response of the end-effector pose to external forces. The valid-
ity of the proposed kinetostatic model will be assessed through the implementation of kinetostatic
model-based control.

In conclusion, this thesis proposal aims to address the fundamental challenges in the kinetostatic
modeling of a 6 RUS parallel continuum robot using the cosserat rod theory coupled with rigid
bodies. By leveraging the unique capabilities of this theory, I anticipate to uncover new insights
into the behavior and performance of such robots.

In der Regel sind die Vorträge Teil von Lehrveranstaltungsreihen der Universität Bremen und nicht frei zugänglich. Bei Interesse wird um Rücksprache mit dem Sekretariat unter sek-ric(at)dfki.de gebeten.

last updated 31.03.2023