Abstract
AbstractRobot nurses have become well-known for their contributions to the healthcare industry. Compared with traditional manipulators, cable-driven continuum manipulators have many advantages, such as small manipulator rotational inertia, high dexterity, and large workspace. It is especially suitable for working environment with complex structure and narrow space. In this paper, a portable fully coupled parallel continuum manipulator is designed. The manipulator adopts a spherical parallel mechanism as the basic drive unit. Multiple identical spherical parallel mechanisms are connected in series to form a continuum manipulator. The continuum manipulator installs the motor on the base of the manipulator. To drive the operating platform through the cable, the moment of inertia of the manipulator is reduced, the forward kinematics and inverse kinematics modeling of the basic drive unit are carried out, and the statics modeling of the mechanism is carried out. It solves the problem that the existing traditional manipulator cannot work in a space with a complex structure and a high degree of narrowness, and improves the problems that the existing continuum manipulator has a weak carrying capacity and a small movement space.KeywordsParallel continuum robotStatics analysisKinematics
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