Parallel continuum manipulators - Balancing structure dependent drawbacks by combining parallel and continuum robots

• Applicants: Professorin Dr.-Ing. Jessica Burgner-Kahrs; Professor Dr.-Ing. Tobias Johannes Ortmaier
• Subject Area: Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics
• Term: from 2017 to 2021
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 386084657

The aim of this project is the investigation of parallel continuum manipulators - a novel category of robots based on the symbiosis of parallel and continuum robots. This research is based on the hypothesis that parallel robot with continuous kinematic chains exhibit a larger workspace with higher dexterity than classic parallel robots and a homogeneous performance in a singularity free workspace. As delicate continuous chains are arranged in parallel, the manipulator can withstand higher forces at a low weight in comparison to serial continuum robots.In a first step, potential parallel continuum structures have to be conceptually developed and classified with a general notation. In a second step, characteristics and parameters to quantify the performance of parallel continuum manipulators are determined based on a mathematical model of the kinematics. Conceptual classes of parallel continuum manipulators are derived from this model-based hypothesis proof which are finally built as operational prototypes to demonstrate feasibility.

• DFG Programme: Research Grants