Abstract: In this work a method for the kinematic synthesis of structure topologies for modular metamorphic serial manipulators is presented. A detailed description of this class of robot manipulators is presented, in order to clarify ...

Abstract: In this paper, a method for the optimal design of metamorphic manipulators is presented, using path dexterity indices in diverse service tasks. The Swedish massage service is chosen as an application, due the very dissimilar ...