Conceptual Mechatronic Design of a Metamorphic Manipulator’s Pseudojoints

In this paper the conceptual mechatronic design of an autonomous pseudojoint to be used for structuring serial metamorphic manipulators will be presented. First, the design specifications of the pseudojoint and their mapping to four evaluation criteria is presented. The proposed evaluation method is based on the discrete Choquet integral. Finally, the selection of a novel pseudojoint from four design alternatives is used as a case study of the proposed method.