A Geometrically Exact Assumed Strain Modes Approach for the Geometrico- and Kinemato-Static Modelings of Continuum Parallel Robots

There is a growing interest on the study of continuum parallel robots (CPRs) due to their higher stiffness and better dynamics capacities than serial (SCRs). Several works have focused computation geometrico- kinemato-static models that can be sorted into two main categories. Models based continuous Cosserat equations are very accurate but assessing elastic stability with them tricky, discretized allow easily checking stability, they require large number variables accurate. In this article, we extend an approach assumed strain modes developed for SCRs statics CPRs. This method able predict robot configuration excellent accuracy limited variables, contrary other discretization methods. The also more 100 times faster finite differences prediction accuracy. Finally, it possible assess by only Hessian potential energy as any method, thus making analysis property simpler model. All results validated through simulations case studies.