Kinematics Analysis of Scissor Robot

Continuum Robot has become a hot spot at present. But there are still some changes, such as difficult to control, low bearing capacity, too many drivers. We make a deep research on the continuum robot for these problems, and proposed a novel robot basing on scissor mechanism, which has one translation and two rotation degree of freedom. The six units of the robot are only driven by three motors, which has high bearing capacity, large workspace, fast response, flexible motion characteristics. We design the scissor robot and carry out kinematics analysis and simulation. The research in this paper enriches the configuration of continuum robot.