Kinematics Analysis of a Novel Continuum Manipulator

This paper presents a novel wire-driven continuum picking manipulator which own the hollow structure for transporting the object along its internal space, such as harvesting the fruits, conveying liquid. In order to map the motion of the manipulator, the kinematics, instantaneous kinematics and workspace are analyzed. In addition, the kinematic performance with different posture is discussed based on dexterity index by Jacobian matrix decomposition. Further, several typical trajectories are experimented based the inverse kinematics in different region of workspace. The results demonstrated that the wire-driven continuum picking manipulator own favorable motion performance.