Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot

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Nuelle, K.; Sterneck, T.; Lilge, S.; Xiong, D.; Burgner-Kahrs, J.; et al.: Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot. In: IEEE Robotics and Automation Letters, 5 (2020), Nr. 4, S. 5811-5818. Piscataway, NJ : IEEE, 2020. DOI:

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Sum total of downloads: 171

In this work, a novel planar parallel continuum robot (PCR) is introduced, consisting of three kinematic chains that are coupled at a triangular end-effector platform and include tendon-actuated continuum segments. The kinematics of the resulting structure are derived by adapting the descriptions for conventional planar parallel manipulators to include constant curvature bending of the utilized continuous segments. To account for friction and non-linear material effects, a data-driven model is used to relate tendon displacements and curvature of the utilized continuum segments. A calibration of the derived kinematic model is conducted to specifically represent the constructed prototype. This includes the calibration of geometric parameters for each kinematic chain and for the end-effector platform. During evaluation, positioning repeatability of 1.0% in relation to one continuum segment length of the robot, and positioning accuracy of 1.4%, are achieved. These results are comparable to commonly used kineto-static modeling approaches for PCR. The presented model achieves high path accuracies regarding the robot's end-effector pose in an open-loop control scenario.
License of this version: Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden.
Document Type: article
Publishing status: acceptedVersion
Issue Date: 2020
Appears in Collections:Fakultät für Maschinenbau

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pos. country downloads
total perc.
1 image of flag of Germany Germany 48 28.07%
2 image of flag of China China 36 21.05%
3 image of flag of United States United States 20 11.70%
4 image of flag of France France 10 5.85%
5 image of flag of Italy Italy 7 4.09%
6 image of flag of Hong Kong Hong Kong 7 4.09%
7 image of flag of No geo information available No geo information available 6 3.51%
8 image of flag of Japan Japan 5 2.92%
9 image of flag of India India 5 2.92%
10 image of flag of Egypt Egypt 4 2.34%
    other countries 23 13.45%

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