Abstract
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.
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Acknowledgements
Authors wish to acknowledge the contribution of Diego Caballero and Unai Urrutia with MATLAB code, and financial support from Spanish Government (DPI2015-64450-R) and Regional Government of the Basque Country (Project IT949-16).
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Altuzarra, O., Campa, F.J. (2021). On Singularity and Instability in a Planar Parallel Continuum Mechanism. In: Lenarčič, J., Siciliano, B. (eds) Advances in Robot Kinematics 2020. ARK 2020. Springer Proceedings in Advanced Robotics, vol 15. Springer, Cham. https://doi.org/10.1007/978-3-030-50975-0_40
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