Index based optimal anatomy of a metamorphic manipulator for a given task

Valsamos, Charalampos; Moulianitis, Vassilis C.; Aspragathos, Nikos Α.

doi:10.1016/j.rcim.2011.11.006

Cited by 33 publications

(20 citation statements)

References 10 publications

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“…The above surfaces C i , i = 0, 1, 2, 3 can be verified through Equation (5). The separating equation h 2 in Equation 5is a second-degree polynomial in d 4 such that:…”

Section: Separating Algebraic Equations Through Investigation Of Det(mentioning

confidence: 97%

“…Cuspidality Investigation in Metamorphic Orthogonal Serial Robotic Arm is the main aim in this paper and the basic concepts are presented in this section. The next subsection presents the Metamorphic Manipulator Structure that was introduced in [2][3][4][5], in order to facilitate the understanding of the proposed method.…”

Section: Cuspidality Investigation In Orthogonal-metamorphic Modular Armmentioning

confidence: 99%

“…The Metamorphic Manipulator belongs to reconfigurable modular robotic systems that could be reconfigured providing a variety of manipulator anatomies adapted to a wide spectrum of task requirements. The mechanism consists of active modules, pseudo-joints, and link modules (rigid links) [3][4][5]. Active modules ( Figure 1a) are mechatronic devices, which are fully equipped with an actuator, harmonic drive, failsafe brake, encoder, power electronics, transmissions and sensors.…”

Section: Presentation Of Metamorphic Manipulatormentioning

confidence: 99%

“…The metamorphosis is achieved through the pseudo-joints [2], which are used to change the arm anatomy [3]. It was showed that a regular metamorphic manipulator system can be used to achieve high kinematic performance adapted to the tasks' requirements [4,5].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Classification of All Non-Isomorphic Regular and Cuspidal Arm Anatomies in an Orthogonal Metamorphic Manipulator

2020

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This paper proposes a classification of all non-isomorphic anatomies of an orthogonal metamorphic manipulator according to the topology of workspace considering cusps and nodes. Using symbolic algebra, a general kinematics polynomial equation is formulated, and the closed-form parametric solution of the inverse kinematics is obtained for the coming anatomies. The metamorphic design space was disjointed into eight distinct subspaces with the same number of cusps and nodes plotting the bifurcating and strict surfaces in a cartesian coordinate system { θ π 1 , θ π 2 , d 4 } . In addition, several non-singular, smooth and continuous trajectories are simulated to show the importance of this classification.

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“…The above surfaces C i , i = 0, 1, 2, 3 can be verified through Equation (5). The separating equation h 2 in Equation 5is a second-degree polynomial in d 4 such that:…”

Section: Separating Algebraic Equations Through Investigation Of Det(mentioning

confidence: 97%

Section: Cuspidality Investigation In Orthogonal-metamorphic Modular Armmentioning

confidence: 99%

Section: Presentation Of Metamorphic Manipulatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Classification of All Non-Isomorphic Regular and Cuspidal Arm Anatomies in an Orthogonal Metamorphic Manipulator

2020

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“…Valsamos et al [14] proposed an approach to determine the best anatomy of a metamorphic serial linkage for a given task.…”

mentioning

confidence: 99%

Mobility variation of a family of metamorphic parallel mechanisms with reconfigurable hybrid limbs

Fang

Zhang

et al. 2016

Robotics and Computer-Integrated Manufacturing

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This paper presents a planar metamorphic mechanism (PMM) which has three distinct working phases and a family of metamorphic parallel mechanisms with a PMM as closed-loop subchain in each limb. The study starts from analysis of mobility variation and motion characteristics in each phase of the PMM based on screw theory. Three types of reconfigurable hybrid limbs are then constructed by integrating the PMM and serial chains capable of supplying one constraint force and one constraint couple. This leads to the design of a new family of metamorphic parallel mechanisms in which the platform is connected to the base by three reconfigurable hybrid limbs. The configuration changes of the reconfigurable limb associate with the three distinct phases of the PMM are analyzed and the constraints exerted by the reconfigurable limb in various configurations are identified. The analyses reveal that the metamorphic parallel mechanisms have ability to alter the performance of platform from full 6-DOF configuration to 5-, 4-and 3-DOF configurations resorting to the internal configuration variation of the three reconfigurable limbs. Finally, Actuation models with selected joints for mounting drives for the metamorphic parallel mechanisms are addressed and application cases including the potential for hybrid additive and subtractive manufacturing machine of the proposed mechanisms are discussed in details.

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Metamorphic Structure Representation: Designing and Evaluating Anatomies of Metamorphic Manipulators

Valsamos

Moulianitis

Aspragathos

2012

Advances in Reconfigurable Mechanisms and Robots I

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Index based optimal anatomy of a metamorphic manipulator for a given task

Cited by 33 publications

References 10 publications

Classification of All Non-Isomorphic Regular and Cuspidal Arm Anatomies in an Orthogonal Metamorphic Manipulator

Classification of All Non-Isomorphic Regular and Cuspidal Arm Anatomies in an Orthogonal Metamorphic Manipulator

Mobility variation of a family of metamorphic parallel mechanisms with reconfigurable hybrid limbs

Metamorphic Structure Representation: Designing and Evaluating Anatomies of Metamorphic Manipulators

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