Elastic Manipulators

  • Adam Morecki
  • Józef Knapczyk
Part of the International Centre for Mechanical Sciences book series (CISM, volume 402)


Elastic manipulators are manipulators designed to operate in workspaces containing obstacles, as well as limited workspaces. During positioning of the end-effector at a certain point of the manipulator’s workspace, the arm of such manipulator must be able to take various, sometimes very complex shapes, and the spatial orientation of the end-effector must be independent of the position of that point.


Drive System Neutral Axis Kinematic Chain Elastic Element Oblique Muscle 
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Copyright information

© Springer-Verlag Wien 1999

Authors and Affiliations

  • Adam Morecki
    • 1
  • Józef Knapczyk
    • 2
  1. 1.Warsaw University of TechnologyPoland
  2. 2.Cracow University of TechnologyPoland

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