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

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...

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Bibliographic Details
Main Authors: Christos Koukos-Papagiannis, Vassilis Moulianitis, Nikos Aspragathos
Format: Article
Language:English
Published: MDPI AG 2020-04-01
Series:Robotics
Subjects:
orthogonality
pseudo-joint
metamorphic manipulator
surfaces
metamorphic topological spaces
Online Access:https://www.mdpi.com/2218-6581/9/2/20

Internet

https://www.mdpi.com/2218-6581/9/2/20

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