Kinematic characteristics of parallel continuum mechanisms

Abstract

Parallel Continuum Mechanisms are manipulators whose end-effector is connected with several compliant legs. Continuum manipulators of such kind have been considered historically serial devices because most of them have a long slender form. Nevertheless, these architectures contain aspects resembling their rigid-link parallel analogs. In this paper, authors go over the parallelisms between both kinds of devices regarding several kinematic aspects. We will show that in the field of Parallel Continuum Mechanisms there are alter egos to concepts of rigid-link manipulators such as: assembly modes and working modes, or singularities. However, there are also distinct features that will be highlighted.