Turning an Articulated 3-PPSR Manipulator into a Parallel Continuum Robot
Oscar F. Gallardo,Benjamin Mauzé,Redwan Dahmouche,Christian Duriez,Guillaume J. Laurent,Oscar F. Gallardo,Benjamin Mauzé,Redwan Dahmouche,Christian Duriez,Guillaume J. Laurent
Parallel Continuum Robots (PCR) have received a lot of attention in recent years. This paper presents a new 6-degrees-of-freedom PCR derived from the conventional 3-PPSR parallel manipulator. This robot is driven by three limbs consisting of two flexible rods each and replacing the spherical and revolute joints of the original version. Each limb is mounted onto two linear axes arranged in series. ...
