Metamorphic Structure Representation: Designing and Evaluating Anatomies of Metamorphic Manipulators

  • Charalampos Valsamos
  • Vassilis C. Moulianitis
  • Nikos Aspragathos
Conference paper


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.


Open chain metamorphic manipulators Reconfigurable robots Structure representation 


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Copyright information

© Springer-Verlag London 2012

Authors and Affiliations

  • Charalampos Valsamos
    • 1
  • Vassilis C. Moulianitis
    • 2
  • Nikos Aspragathos
    • 1
  1. 1.Department of Mechanical and Aeronautics EngineeringUniversity of PatrasRioGreece
  2. 2.Department of Product and Systems DesignUniversity of the AegeanErmoupolisGreece

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