Forward Kinematics and Workspace Analysis of 2-Axes Continuum Keops-Delta

In this paper, the authors perform the kinematic analysis and obtain the workspace of the 2-axes continuum Keops-Delta manipulator. Basing on Cosserat’s theory, the deformed shape of the slender rods that form the kinematic chains of the mechanism under study can be achieved. Due to the flexibility of these rods, a purely translational movement is not generated, being necessary to assess the resulting workspace, emphasizing the analysis of the parasitic motion of the end-effector. It will be shown that a quasi-translational motion can be achieved. Other relevant parameters, such as stiffness and Jacobian norm, will be evaluated.