InstituteTeamDipl.-Ing. Kathrin Nülle
Parallel-kontinuierliche Manipulatoren – Egalisierung strukturindividueller Nachteile durch Kombination von Parallel- und Kontinuumsrobotern


Parallel-continuous manipulators - equalization of structure-specific disadvantages by combining parallel and continuum robots

Team:  Dipl.-Ing. Kathrin Nülle
Year:  2018
Sponsors:  German Research Foundation (DFG)
Lifespan:  1.1.2018-31.12.2019

Parallel kinematic machines have a high accuracy due to parallel arranged serial chains. High dynamic characteristics result from motor locations close to the robot base. A structural disadvantage is the small workspace compared to the footprint, which is additionally limited by singularities. In contrast, continuous robots, which have a flexible structure instead of discrete joints with rigid links, offer a high number of degrees of freedom and therefore allow high dexterity and manipulability. However, they possess a structural low rigidity.

This project explores parallel robots with continuous kinematic chains in cooperation with the Laboratory for Continuum Robotics. A rendering of such a robot can be seen in the picture. The goal of the project is to combine the advantages of parallel robots with those of continuum robots. For this purpose, a general description of parallel-continuous robots with regard to classification and notation is given and coupling possibilities between the components are investigated. Based on this, kinematics models are developed and kinematic performance parameters are analyzed to evaluate different structures. Finally, the statements are experimentally evaluated based on functional models.