Experimental evaluation of 3-DOF Parallel Continuum Robot capable of twisting motion

Abstract

Parallel Continuum Robots (PCRs), composed of interconnected rods and disks, offer a blend of flexibility, dexterity, and safety, rendering them promising for tasks within intricate environments such as inspection and repair. This paper focuses on a novel type of PCR which is capable of twisting motion and evaluates its performance with experiments. First, the novel mechanism and the prototype fabrication are introduced. Next, experiments were conducted to measure the pose of the end-effector of the prototype, and its positioning accuracy by comparison with a kinematic model and repeatability were examined. Last, their results were discussed, and future work was suggested.