German Research Center for Artificial Intelligence | ContinuumPKM: PArallel COntinuun MAnipulator (PACOMA) @dfkivideo | Uploaded 1 month ago | Updated 18 hours ago
The Parallel Continuum Manipulator (PACOMA) is an advanced robotic system designed to replace traditional robotic arms in space missions, such as exploration, in-orbit servicing, and docking. The system features six flexible links with a leaf spring-tendon system and a Revolute-Universal-Spherical (RUS) kinematic chain. Its design emphasizes robustness against misalignments and impacts, high precision and payload capacity, and sufficient mechanical damping for stable, controlled movements.
To control the robot, a kinetostatic model based on inverse kinematics is proposed, which effectively addresses the coupled problems between kinematics and statics, providing a real-time solution for PACOMA's operation under external force. Extensive tests have been conducted using a real PACOMA prototype to evaluate the system and modeling approach.
Additionally, the application of PACOMA for docking with a space rover was investigated. To the best of our knowledge, this is the first investigation and evaluation of the parallel continuum mechanism for future docking missions in space applications. Its mechanical compliance is employed to ensure safe interaction during the docking process, demonstrating for the first time the capability of parallel continuum robots (PCRs) in addressing the misalignment problem in space docking.
The project is subcontracted by Airbus Defence & Space GmbH (Grant No. D.4283.01.02.01) with funding from the European Space Agency (Grant No. ESA-TECMSM-SOW-022836).
Link to more information about the project:
https://robotik.dfki-bremen.de/de/forschung/projekte/continuumpkm
The Parallel Continuum Manipulator (PACOMA) is an advanced robotic system designed to replace traditional robotic arms in space missions, such as exploration, in-orbit servicing, and docking. The system features six flexible links with a leaf spring-tendon system and a Revolute-Universal-Spherical (RUS) kinematic chain. Its design emphasizes robustness against misalignments and impacts, high precision and payload capacity, and sufficient mechanical damping for stable, controlled movements.
To control the robot, a kinetostatic model based on inverse kinematics is proposed, which effectively addresses the coupled problems between kinematics and statics, providing a real-time solution for PACOMA's operation under external force. Extensive tests have been conducted using a real PACOMA prototype to evaluate the system and modeling approach.
Additionally, the application of PACOMA for docking with a space rover was investigated. To the best of our knowledge, this is the first investigation and evaluation of the parallel continuum mechanism for future docking missions in space applications. Its mechanical compliance is employed to ensure safe interaction during the docking process, demonstrating for the first time the capability of parallel continuum robots (PCRs) in addressing the misalignment problem in space docking.
The project is subcontracted by Airbus Defence & Space GmbH (Grant No. D.4283.01.02.01) with funding from the European Space Agency (Grant No. ESA-TECMSM-SOW-022836).
Link to more information about the project:
https://robotik.dfki-bremen.de/de/forschung/projekte/continuumpkm
