Workspace Computation of Planar Continuum Parallel Robots

Continuum parallel robots ( CPRs ) comprise several flexible beams connected in to an end-effector. They combine the inherent compliance of continuum with high payload capacity robots. Workspace characterization is a crucial point performance evaluation . In this paper, we propose methodology for workspace planar xmlns:xlink="http://www.w3.org/1999/xlink">PCPRs ), focus on constant-orientation workspace. An explorative algorithm, based iterative solution inverse geometrico-static problem proposed computation generic xmlns:xlink="http://www.w3.org/1999/xlink">PCPR Thanks energy-based modelling strategy, and derivative approximation by finite differences, are able apply Kantorovich theorem certify existence, uniqueness, convergence at each step procedure. Three case studies shown demonstrate effectiveness approach.