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      On Constraints and Parasitic Motions of a Tripod Parallel Continuum Manipulator 

      Altuzarra Maestre, Oscar ORCID; Tagliavini, Luigi; Lei, Yuhang; Petuya Arcocha, Víctor ORCID; Ruiz Erezuma, José Luis (MDPI, 2023-01-06)
      A parallel continuum manipulator (PCM) is a mechanism of closed-loop morphology with flexible elements such that their deformation contributes to its mobility. Flexible hexapods are six-degrees-of-freedom (DoF) fully ...