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Based on the traditional three degree of freedom (DOF) planar parallel mechanism, a novel reconfigurable 3-DOF planar parallel mechanism is proposed. Firstly, based on the theory and method of topology design of the parallel mechanism position and orientation characteristic (POC). The switch between the 3-revolute-joint, prismatic-joint, revolute-joint (3-RPR) and 3-revolute-joint, revolute-joint, revolute-joint (3-RRR) planar parallel mechanisms is realized through a reconfigurable branch chain. Then, taking 3-RRR configuration as an example, the important topological indexes of the mechanism, such as POC, DOF and coupling degree, are analyzed. Based on the structural characteristics and geometric constraints of the mechanism, the inverse kinematics model is derived by using the closed vector method. Finally, the position workspace of the mechanism is analyzed based on the geometric constraint method of the branched chain and the inverse solution model respectively. This work provides not only a new idea for the analysis of mechanism workspace, but also a new choice for the design of mechanism. [ABSTRACT FROM AUTHOR]

A multi-joint wire driven continuum robot was designed. The continuum robots had four bending degrees of freedom and one feeding degree of freedom. The kinematics model of the continuum robot was established, and the workspace was analyzed by MATLAB. Three master-slave mapping algorithms were designed for Geomagic Touch to realize the master-slave heterogeneous teleoperation control of continuous robots. The correctness of the master-slave control algorithm was verified by experiments, and the good bending ability of the continuum robots was shown. The experimental results show that the continuum robots have certain control accuracy and good following ability. [ABSTRACT FROM AUTHOR]