From: Task-Based Optimal Design of Metamorphic Service Manipulators Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Task-Based Optimal Design of Metamorphic Service Manipulators J. Mechanisms Robotics. 2016;8(6):061011-061011-9. doi:10.1115/1.4033665 Figure Legend: A metamorphic manipulator comprised of links, pseudojoints, and active (rotational) joints: (a) the 6DoF case study metamorphic manipulator with four pseudojoints, (b) isometric view of a pseudojoint and the corresponding axis of rotation Zp, and (c) isometric view of an active joint and the corresponding axis of rotation Z

From: Task-Based Optimal Design of Metamorphic Service Manipulators Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Task-Based Optimal Design of Metamorphic Service Manipulators J. Mechanisms Robotics. 2016;8(6):061011-061011-9. doi:10.1115/1.4033665 Figure Legend: Unit directional vectors along the path

From: Task-Based Optimal Design of Metamorphic Service Manipulators Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Task-Based Optimal Design of Metamorphic Service Manipulators J. Mechanisms Robotics. 2016;8(6):061011-061011-9. doi:10.1115/1.4033665 Figure Legend: Mapping of a path in SE(3) to multiple paths in the joint space

From: Task-Based Optimal Design of Metamorphic Service Manipulators Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Task-Based Optimal Design of Metamorphic Service Manipulators J. Mechanisms Robotics. 2016;8(6):061011-061011-9. doi:10.1115/1.4033665 Figure Legend: Vertical straight line path of high end-effector force: (a) the rm for two different anatomies (best—left and arbitrary—right) for the lifting task and (b) the required torques for the lifting task (best anatomy—solid and arbitrary anatomy–dashed)

From: Task-Based Optimal Design of Metamorphic Service Manipulators Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Task-Based Optimal Design of Metamorphic Service Manipulators J. Mechanisms Robotics. 2016;8(6):061011-061011-9. doi:10.1115/1.4033665 Figure Legend: Horizontal circular line path of high end-effector force: (a) the values of rm along the semicircular task for the best anatomy (over the trajectory) and an arbitrary anatomy (under the trajectory) and (b) the required joint torques for the semicircular task (best anatomy—solid and arbitrary anatomy–dashed)

From: Task-Based Optimal Design of Metamorphic Service Manipulators Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Task-Based Optimal Design of Metamorphic Service Manipulators J. Mechanisms Robotics. 2016;8(6):061011-061011-9. doi:10.1115/1.4033665 Figure Legend: The values of rv for the best anatomy along the semicircular task for the best anatomy (over the trajectory) and an arbitrary anatomy (under the trajectory)

From: Task-Based Optimal Design of Metamorphic Service Manipulators Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Task-Based Optimal Design of Metamorphic Service Manipulators J. Mechanisms Robotics. 2016;8(6):061011-061011-9. doi:10.1115/1.4033665 Figure Legend: Horizontal circular line path of high end-effector velocity: (a) the required velocities for the first and second joints of the semicircular task (best anatomy—solid and arbitrary anatomy—dashed) and (b) the required velocities for the second and third joints of the semicircular task (best anatomy—solid and arbitrary anatomy—dashed)

From: Task-Based Optimal Design of Metamorphic Service Manipulators Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Task-Based Optimal Design of Metamorphic Service Manipulators J. Mechanisms Robotics. 2016;8(6):061011-061011-9. doi:10.1115/1.4033665 Figure Legend: The best anatomies in their reference configuration for all three tasks described: (a) for the scenario in Sec. 6.1, (b) for the scenario in Sec. 6.2, and (c) for the scenario in Sec. 6.3