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.
CITATION STYLE
Altuzarra, O., & Campa, F. J. (2021). On Singularity and Instability in a Planar Parallel Continuum Mechanism. In Springer Proceedings in Advanced Robotics (Vol. 15, pp. 327–334). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-50975-0_40
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