Geometrico-static modelling of continuum parallel robots

Zaccaria, Federico (2020) Geometrico-static modelling of continuum parallel robots. [Laurea magistrale], Università di Bologna, Corso di Studio in Ingegneria meccanica [LM-DM270], Documento full-text non disponibile
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In this thesis, we explore three methods for the geometrico-static modelling of continuum parallel robots. Inspired by biological trunks, tentacles and snakes, continuum robot designs can reach confined spaces, manipulate objects in complex environments and conform to curvilinear paths in space. In addition, parallel continuum manipulators have the potential to inherit some of the compactness and compliance of continuum robots while retaining some of the precision, stability and strength of rigid-links parallel robots. Subsequently, the foundation of our work is performed on slender beam by applying the Cosserat rod theory, appropriate to model continuum robots. After that, three different approaches are developed on a case study of a planar parallel continuum robot constituted of two connected flexible links. We solve the forward and inverse geometrico-static problem namely by using (a) shooting methods to obtain a numerical solution, (b) an elliptic method to find a quasi-analytical solution, and (c) the Corde model to perform further model analysis. The performances of each of the studied methods are evaluated and their limits are highlighted. This thesis is divided as follows. Chapter one gives the introduction on the field of the continuum robotics and introduce the parallel continuum robots that is studied in this work. Chapter two describe the geometrico-static problem and gives the mathematical description of this problem. Chapter three explains the numerical approach with the shooting method and chapter four introduce the quasi-analytical solution. Then, Chapter five introduce the analytic method inspired by the Corde model and chapter six gives the conclusions of this work.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Zaccaria, Federico
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
geometrico-static modelling,Cosserat rods,continuum parallel robots
Data di discussione della Tesi
13 Marzo 2020

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