Conclusion

Continuous robotics is booming. The first robots to be proposed, of series architecture, were limited in size: they were subject to gravity, and the larger they were, the more they had to be able to support their own weight. To counterbalance these disadvantages while retaining the flexibility of continuous robots, another class of robots has been proposed: continuous parallel robots (CPR), the subject of this article.

After a generic introduction to flexible robotics, which positioned RPCs in relation to all other flexible robot architectures, the various existing RPC architectures were studied. It was possible to classify them according to the type of legs used (passive or active), according to the systems constraining the legs (intermediate or end constraints), or according to the types of ddl controllable for the platform. The terminology used to describe these...