Abstract
AbstractMetamorphic robotic manipulator systems have been proposed in the relevant literature as a design paradigm able to enhance multiple aspects of robotic manipulator systems, such as adaptability to task requirements and performance during task execution. The present chapter presents the main design considerations for such robotic systems, examining the need for such systems and the proposed design concept. Furthermore, the modelling of metamorphic manipulator systems is presented, as well as the process of determining the analytical solution to their kinematic problems utilizing a modular kinematic approach. The chapter also presents methods for the dynamic structuring and design of metamorphic manipulator systems.
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