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2012 | OriginalPaper | Buchkapitel

1. Metamorphic Structure Representation: Designing and Evaluating Anatomies of Metamorphic Manipulators

verfasst von : Charalampos Valsamos, Vassilis C. Moulianitis, Nikos Aspragathos

Erschienen in: Advances in Reconfigurable Mechanisms and Robots I

Verlag: Springer London

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Abstract

In this work the metamorphic structure representation (MSR) is proposed for the systematic development and evaluation of structures of metamorphic serial manipulators. The basic elements of MSR are presented, in terms of module and connection type. The conceptual design of metamorphic structures using MSR is presented. The criteria for evaluating emerging structures are introduced in terms of simplicity and solvability of inverse kinematics. Finally, a case study of two different structures is presented along with their subsequent evaluation.

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Nächstes Kapitel A Method for Configuration Representation of Metamorphic Mechanisms with Information of Component Variation

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Titel: Metamorphic Structure Representation: Designing and Evaluating Anatomies of Metamorphic Manipulators
verfasst von: Charalampos Valsamos
Vassilis C. Moulianitis
Nikos Aspragathos
Verlag: Springer London
Buch: Advances in Reconfigurable Mechanisms and Robots I
Print ISBN: 978-1-4471-4140-2

Electronic ISBN: 978-1-4471-4141-9

Copyright-Jahr: 2012
DOI: https://doi.org/10.1007/978-1-4471-4141-9_1