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Open AccessArticle

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

1
Robotics Group, Mechanical Engineering & Aeronautics, University of Patras, 26504 Rio, Greece
2
Department of Product and Systems Design Engineering, University of the Aegean, 84100 Syros, Greece
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Author to whom correspondence should be addressed.
Robotics 2020, 9(2), 20; https://doi.org/10.3390/robotics9020020
Received: 25 February 2020 / Revised: 28 March 2020 / Accepted: 31 March 2020 / Published: 2 April 2020
(This article belongs to the Special Issue Advances in Robotics and Mechatronics)
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. View Full-Text
Keywords: orthogonality; pseudo-joint; metamorphic manipulator; surfaces; metamorphic topological spaces orthogonality; pseudo-joint; metamorphic manipulator; surfaces; metamorphic topological spaces
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Koukos-Papagiannis, C.; Moulianitis, V.; Aspragathos, N. Classification of All Non-Isomorphic Regular and Cuspidal Arm Anatomies in an Orthogonal Metamorphic Manipulator. Robotics 2020, 9, 20.

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