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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Appendix A
Appendix A
Modules types for structuring metamorphic robots
| Pseudo joint |
• 1 D.O.F. passive connector | |
• Twist can be set by the user Two options, as shown or opposite direction) | |
• Reference configuration θp = 0o set by designer | |
• Range of displacement for configuration shown [−900, + 900] (adjusted according to reference configuration set by the designer) | |
• 2 Connecting Surfaces (as shown) | |
• Not scalable, Connective surfaces set to match all types of other modules | |
| Active Joint |
• 1 D.O.F. rotating active joint | |
• Self contained active module | |
• Twist and displacement as shown | |
• Scalable in three different sizes | |
• 6 Connecting surfaces (as shown) | |
| Rigid Connector |
• Passive connector | |
• Provides length for a metamorphic structure | |
• For connection encoding the direction of the length is used (as shown) | |
• 6 connective surfaces (as shown) | |
• Also scalable to required length |
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Valsamos, C., Moulianitis, V.C., Aspragathos, N. (2012). Metamorphic Structure Representation: Designing and Evaluating Anatomies of Metamorphic Manipulators. In: Dai, J., Zoppi, M., Kong, X. (eds) Advances in Reconfigurable Mechanisms and Robots I. Springer, London. https://doi.org/10.1007/978-1-4471-4141-9_1
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DOI: https://doi.org/10.1007/978-1-4471-4141-9_1
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