Zaccaria, Federico
(2020)

*Geometrico-static modelling of continuum parallel robots.*
[Laurea magistrale], Università di Bologna, Corso di Studio in

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## Abstract

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.

Abstract

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

Scuola

Corso di studio

Ordinamento Cds

DM270

Parole chiave

geometrico-static modelling,Cosserat rods,continuum parallel robots

Data di discussione della Tesi

13 Marzo 2020

URI

## Altri metadati

Tipologia del documento

Tesi di laurea
(NON SPECIFICATO)

Autore della tesi

Zaccaria, Federico

Relatore della tesi

Correlatore della tesi

Scuola

Corso di studio

Ordinamento Cds

DM270

Parole chiave

geometrico-static modelling,Cosserat rods,continuum parallel robots

Data di discussione della Tesi

13 Marzo 2020

URI

Gestione del documento: