Abstract
Parallel Continuum Mechanisms are manipulators whose end-effector is connected with several compliant legs. Continuum manipulators of such kind have been considered historically serial devices because most of them have a long slender form. Nevertheless, these architectures contain aspects resembling their rigid-link parallel analogs. In this paper, authors go over the parallelisms between both kinds of devices regarding several kinematic aspects. We will show that in the field of Parallel Continuum Mechanisms there are alter egos to concepts of rigid-link manipulators such as: assembly modes and working modes, or singularities. However, there are also distinct features that will be highlighted.
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Acknowledgements
Authors wish to acknowledge financial support from Spanish Government (DPI2015-64450-R), MEC Ph.D. grant (FPU15/04422) and Regional Government of the Basque Country (Project IT949-16).
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Altuzarra, O., Caballero, D., Zhang, Q., Campa, F.J. (2019). Kinematic Characteristics of Parallel Continuum Mechanisms. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_34
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DOI: https://doi.org/10.1007/978-3-319-93188-3_34
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