Cuspidality Investigation of a Metamorphic Serial Manipulator.

  • C. K. Koukos-Papagiannis
  • V. C. MoulianitisEmail author
  • N. A. Aspragathos
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


In this paper a 3R orthogonal metamorphic manipulator with two pseudo-joints is investigated concerning its cuspidal anatomies. The classification of the anatomies derived by the metamorphic serial structure is achieved by solving the system of polynomials with an eliminating technique based on Groebner Basis. The metamorphic parameters space is divided into domains, according to the number of cusps. Singularity curves as well as the projection of the work-space are shown and discussed for an anatomy of each domain.


Metamorphic manipulator Singularity Cusp Orthogonal manipulators 


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Part of this research has received funding by General Secretariat for Research and Technology (GSRT) and the Hellenic Foundation for Research and Innovation (HFRI) (Code: 1184).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • C. K. Koukos-Papagiannis
    • 1
  • V. C. Moulianitis
    • 2
    Email author
  • N. A. Aspragathos
    • 1
  1. 1.Mechanical Eng and Aeronautics Dept, University of PatrasPatrasGreece
  2. 2.Dept of Product and Systems Design Eng, University of the AegeanErmoupoliGreece

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