Vector-Space Global Collocation Method for Modeling Rod-Driven Parallel Continuum Manipulators
Wu, Ke Sun, Qidi Wang, Yuhao Li, Xinyu Zheng, Gang Chen, Rui
Wu, Ke
Sun, Qidi
Wang, Yuhao
Li, Xinyu
Zheng, Gang
Chen, Rui
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Department
Robotics
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Journal article
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English
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Abstract
Parallel continuum manipulators (PCMs) have attracted increasing attention owing to their flexibility, high precision, and strong load-bearing capacity, compared with their single-arm continuum counterparts. In this article, a kinetostatic modeling framework for PCMs is developed based on Cosserat rod theory, and a vector-space global collocation method (GCM) is proposed to solve the derived model. The GCM selects appropriate basis functions to approximate the unknown functions in vector space under different loading and actuation conditions. In particular, variables originally defined on the Lie group, such as rotation matrices, are reformulated entirely in the vector space while preserving orthogonality, thereby avoiding complex mathematical and numerical operations on the manifold. The proposed method is validated through FEM and experimental tests on a 3-rod PCM prototype. The maximum relative error in the rotation angle is 2.69%, and the absolute error in the end-effector height variation is 1.1 mm, corresponding to 0.55% of its initial height. Finally, a conceptual flexible vector thruster is demonstrated, within which a PCM-based thruster serves as a core component. The kinetostatic and compliance characteristics of this PCM-based thruster are analyzed using the proposed GCM-based semianalytical framework highlighting the simplicity, efficiency, and robustness of the developed framework.
Citation
K. Wu, Q. Sun, Y. Wang, X. Li, G. Zheng, R. Chen, "Vector-Space Global Collocation Method for Modeling Rod-Driven Parallel Continuum Manipulators," IEEE/ASME Transactions on Mechatronics, vol. PP, no. 99, pp. 1-12, 2026, https://doi.org/10.1109/tmech.2026.3694012.
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IEEE/ASME Transactions on Mechatronics
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Keywords
40 Engineering, 4007 Control Engineering, Mechatronics and Robotics
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IEEE