Journal of Shanghai Jiao Tong University ›› 2022, Vol. 56 ›› Issue (6): 809-817.doi: 10.16183/j.cnki.jsjtu.2021.060

• Mechanical Engineering • Previous Articles     Next Articles

Design and Realization of Continuum Manipulator Based on Coupling of Double Parallel Mechanism

WU Guanlun, SHI Guanglin()   

  1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
  • Received:2021-02-26 Online:2022-06-28 Published:2022-07-04
  • Contact: SHI Guanglin


A 5-degree-of-freedom continuum manipulator is designed and implemented to improve the flexible positioning ability of the continuum mechanism in applications such as interactivity operations, light object grabbing, and human-machine collaboration. In the design process, by introducing a two-segment constant curvature model, the distribution of degrees of freedom on the mechanism is explained geometrically by the method of twist. Coupling two stretchable parallel modules in series, a two-segment structure is formed for curving and each segment has two degrees of freedom in bending and one degree of freedom in stretching, thereby giving 5 degrees of freedom to the end-effector. Concentrating on the dynamic performance of the manipulator, an electromechanical system platform is built as a prototype. The experiments show that the structure realizes the control of the end-effector during large deformation of the manipulator, and is able to achieve extreme pose in 2 s with an approximation positioning error of 2% of the nominal arm length.

Key words: continuum manipulator, double parallel mechanism, coupling, large deformation, constant curvature model

CLC Number: