Cosseratロッド理論を用いた6RUSパラレル連続体ロボットのキネトスタティック解析
Kinetostatic Analysis for 6RUS Parallel Continuum Robot using Cosserat Rod Theory
Cosseratロッド理論に基づき6RUSパラレル連続体ロボットの順・逆キネトスタティックモデルを提案し、3次元軌道追従や変形、軸剛性をシミュレーションで解析した。
著者: Vinayvivian Rodrigues, Bingbin Yu, Christoph Stoeffler, Shivesh Kumar
分類: cs.RO
原文アブストラクト
Parallel Continuum Robots (PCR) are closed-loop mechanisms but use elastic kinematic links connected in parallel between the end-effector (EE) and the base platform. PCRs are actuated primarily through large deflections of the interconnected elastic links unlike by rigid joints in rigid parallel mechanisms. In this paper, Cosserat rod theory-based forward and inverse kinetostatic models of 6RUS PCR are proposed. A set of simulations are performed to analyze the proposed PCR structure which includes maneuverability in 3-dimensional space through trajectory following, deformation effects due to the planar rotation of the EE platform, and axial stiffness evaluation at the EE.
