Journal of Shanghai Jiao Tong University

Journal of Shanghai Jiaotong University >

2022 , Vol. 56 >Issue 6: 809 - 817

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2021.060

Mechanical Engineering

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

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  • School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

Received date: 2021-02-26

  Online published: 2022-07-04

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Abstract

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

Cite this article

WU Guanlun, SHI Guanglin . Design and Realization of Continuum Manipulator Based on Coupling of Double Parallel Mechanism[J]. Journal of Shanghai Jiaotong University, 2022 , 56(6) : 809 -817 . DOI: 10.16183/j.cnki.jsjtu.2021.060

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