Dezhu Xiong

Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot

In this work, a novel planar parallel continuum robot (PCR) is introduced, consisting of three kinematic chains that are coupled at a triangular end-effector platform and include tendon-actuated continuum segments. The kinematics of the resulting structure are derived by adapting the descriptions fo