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Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links
Sven Lilge1, Kefei Wen1, Jessica Burgner-Kahrs1
1Continuum Robotics Laboratory, Department of Mathematical Computational Sciences, University of Toronto, Mississauga, ON, Canada.
Frontiers in Robotics and AI
|February 10, 2023
Summary
This study analyzes singularities in 3-DOF planar parallel continuum robots (PCR). Unlike conventional mechanisms, type I singularities in these robots exhibit unique, less intuitive behaviors, offering new insights for design and control.
Area of Science:
- Robotics
- Mechanical Engineering
- Control Systems
Background:
- Parallel continuum robots (PCR) offer unique compliance and dexterity.
- Understanding singularities is crucial for safe and effective robot operation.
- Existing singularity analysis primarily focuses on rigid parallel kinematic mechanisms (PKM).
Purpose of the Study:
- To perform a singularity analysis of 3-DOF planar parallel continuum robots (PCR) with three identical legs.
- To enumerate all possible PCR architectures with specified leg configurations.
- To provide a geometrical understanding of singularity occurrences in these novel robots.
Main Methods:
- Enumeration of all possible PCR architectures.
- Derivation of kinematic velocity equations for each architecture.
- Singularity analysis using Jacobian matrices.
Main Results:
- Identification and classification of singularities in the studied PCR.
- Comparison of type II singularities with conventional PKM, showing analogous behavior.
- Characterization of type I singularities as distinct and less geometrically intuitive compared to conventional PKM.
Conclusions:
- The singularity analysis provides critical insights into the behavior of planar parallel continuum robots.
- Type I singularities in PCR present unique challenges and opportunities for design and control.
- This research facilitates further advancements in the structural design and control of planar parallel continuum robots.
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