Modeling and Parametric Analysis of Quasi-Translational Parallel Continuum Manipulators

Translational Parallel Manipulators proved to be effective mechanisms in different application fields, from industries to haptic devices. The introduction of intrinsic flexibility within these mechanisms looks promising at increasing the safety of robots that are adopted in collaborative work-spaces. This paper focuses on the analysis of different types of Parallel Continuum Manipulator to find the better geometric structure to achieve quasi-translational motions. Therefore, the goal is to look for new flexible architectures that could be used instead of mechanisms composed by rigid links to improve safety in factories, in alignment with the United Nations Sustainable Development Goal 9: build resilient infrastructure, promote inclusive and sustainable industrialization and foster innovation.