Design of a 2+1 Prarallel Continuum Robot for pick and place

Abstract

The ongoing research on nonlinear flexure analysis of mechanism required a prototype that would allow the testing of the models and algorithms devel-oped. By the end of the project the robot was successfully built and connected to the controllers that allowed testing it. The key factors during its design were taking advantage of all the resources already available at the university to keep the costs down and meeting the initial requirements so that the comparisons against the models would remain relevant. By comparing the initial test results to the static simulations some discrepancies were found, and the trajectory testing rose concern about some of the compromises made during the design and assembly phases. To be able to develop the idea further the limitations of the prototype should be addressed. However, the potential benefits of compli-ant mechanisms themselves justify that effort.