...N. A. Stravopodis; V. C. Moulianitis This paper proposes a method for optimizing rectilinear tasks on a 3 degrees-of-freedom (DoF) modular serial metamorphic manipulator. The overall experimental process was designed in order for theoretical assumptions and previous experimental results, regarding...

... of the integrated mechanism Considerable development in theoretical research on metamorphic mechanisms [ 14 ] has been made in the past 15 years such as the metamorphic hand [ 15 ] and walking machines. The meso-gripper during passive adjusting mode shown in Fig. 7( a ) has 2DOFs when considering one...

... 12 is in the range of π / 4 and π / 2 and θ 13 is in the range of π / 8 and π / 2 . 18 06 2008 20 12 2010 02 03 2011 02 03 2011 Jacobian matrices manipulators multifingered hand metamorphic hand...

...Dongming Gan; Jian S. Dai; Qizheng Liao This paper presents a new joint coined as the rT joint and proposes two types of metamorphic parallel mechanisms assembled with this rT joint. In the first type, the mechanism changes its topology by turning the rT joints in all limbs into different...