Lilge Sven, Wen Kefei, Burgner-Kahrs Jessica
Continuum Robotics Laboratory, Department of Mathematical Computational Sciences, University of Toronto, Mississauga, ON, Canada.
Front Robot AI. 2023 Jan 24;9:1082185. doi: 10.3389/frobt.2022.1082185. eCollection 2022.
This paper presents the singularity analysis of 3-DOF planar parallel continuum robots (PCR) with three identical legs. Each of the legs contains two passive conventional rigid 1-DOF joints and one actuated planar continuum link, which bends with a constant curvature. All possible PCR architectures featuring such legs are enumerated and the kinematic velocity equations are provided for each of them. Afterwards, a singularity analysis is conducted based on the obtained Jacobian matrices, providing a geometrical understanding of singularity occurences. It is shown that while loci and occurrences of type II singularities are mostly analogous to conventional parallel kinematic mechanisms (PKM), type I singularity occurences for the PCR studied in this work are quite different from conventional PKM and less geometrically intuitive. The study provided in this paper can promote further investigations on planar parallel continuum robots, such as structural design and control.
本文介绍了具有三条相同支腿的三自由度平面并联连续体机器人（PCR）的奇异性分析。每条支腿包含两个被动的传统刚性单自由度关节和一个驱动的平面连续体连杆，该连杆以恒定曲率弯曲。列举了具有此类支腿的所有可能的PCR架构，并为每种架构提供了运动速度方程。之后，基于得到的雅可比矩阵进行奇异性分析，从而对奇异性的出现有几何层面的理解。结果表明，虽然II型奇异性的轨迹和出现情况大多与传统并联运动机构（PKM）类似，但本文研究的PCR的I型奇异性出现情况与传统PKM有很大不同，且几何直观性较差。本文的研究可以促进对平面并联连续体机器人的进一步研究，如结构设计和控制。
