Parallel-continuum robots combine the advantages of both parallel and continuum robotics. They offer a compromise between the inherent compliance and slenderness of continuum robots and the high precision and strength of rigid-link parallel robots. Throughout recent years there has been an increasing research interest in these novel architectures, which form closed kinematic chains that feature flexible, continuous links undergoing elastic deformations. As the number of publications in this emerging research field is steadily increasing, this survey article summarizes and reviews the state of the art in parallel-continuum robots, discussing their design and modeling. A definition and notation for parallel-continuum robots is introduced, allowing for a clear classification. In conclusion, current open research questions and possible applications for such robots are discussed.

中文翻译：

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并行连续机器人：调查


并联连续体机器人结合了并联机器人和连续体机器人的优点。它们在连续体机器人固有的柔顺性和纤细性与刚性连接并联机器人的高精度和强度之间提供了折衷方案。近年来，人们对这些新颖结构的研究兴趣日益浓厚，这些结构形成了封闭的运动链，其特征是柔性、连续的链接发生弹性变形。随着这一新兴研究领域的出版物数量稳步增加，这篇调查文章总结并回顾了并行连续机器人的最新技术，讨论了它们的设计和建模。引入了并行连续体机器人的定义和符号，以便进行清晰的分类。总之，讨论了此类机器人当前的开放研究问题和可能的应用。