Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints

Continuum robots have attracted lots of attention due to their structural compliance, manipulation dexterity, and design compactness. To extend the application scenarios, a slender continuum robot, the CurviPicker, was developed for low-load medium-speed pick-and-place tasks in a previous study. To improve the payload capacity and positioning accuracy of the CurviPicker, a novel Continuum Delta Robot (CDR) was then proposed with three dual-continuum-joint translators in a preliminary investigation. However, the initial version of the CDR did not fully utilize the bending ranges of its continuum joints. In addition, while being modeled using the constant curvature assumption for the continuum joints, the CDR shows lowered positioning accuracy for heavier objects, as the CDR’s continuum joints diverge from the assumed constant curvature shapes. In this paper, the design of the CDR was re-optimized to enable wider bending ranges of the continuum joints (>90 deg) to generate an enlarged workspace, taking into consideration several possible structural interferences. Furthermore, a kinetostatic model is derived based on the Cosserat rod theory to reduce the positioning errors caused by the external loads. The experimental result showed that the workspace is enlarged to approximately 9.47 × 10⁷ mm³ compared with the volume of 6.57 × 10⁷ mm³ of the initial version. Within this enlarged workspace, the average positioning error with a 1000-g load was reduced to 1.93 mm, compared with 4.43 mm obtained by the previous constant curvature assumption.