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Using Clifford-Algebraic and network theoretic methods, this work presents a novel-theoretical framework which allows any two robot architectures and design parameters to be mathematically related to one another through combinations of discrete operators or \u2018reassembling transformations\u2019. Two theoretical case studies involving a 6R manipulator and Klann linkage are furnished in this work.<\/jats:p>","DOI":"10.1017\/s0263574720000752","type":"journal-article","created":{"date-parts":[[2020,9,10]],"date-time":"2020-09-10T09:06:01Z","timestamp":1599728761000},"page":"816-841","source":"Crossref","is-referenced-by-count":1,"title":["Reassembling Transformations for Robot Manipulators Characterised Using Network Theoretic and Clifford-Algebraic Methods"],"prefix":"10.1017","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3679-221X","authenticated-orcid":false,"given":"Sudharsan","family":"Thiruvengadam","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jei Shian","family":"Tan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Karol","family":"Miller","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2020,9,10]]},"reference":[{"key":"S0263574720000752_ref21","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-009-6292-7"},{"key":"S0263574720000752_ref14","first-page":"227","volume-title":"IFToMM Symposium on Mechanism Design for Robotics","author":"Alvarado","year":"2018"},{"key":"S0263574720000752_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2010.09.003"},{"key":"S0263574720000752_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(91)90038-6"},{"key":"S0263574720000752_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2009.10.012"},{"key":"S0263574720000752_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2805165"},{"key":"S0263574720000752_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.339623"},{"key":"S0263574720000752_ref6","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-73008-0_28"},{"key":"S0263574720000752_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-018-9738-1"},{"key":"S0263574720000752_ref1","unstructured":"1. Yim, M. , Duff, D. and Roufas, K. , \u201cPolyBot: A Modular Reconfigurable Robot\u201d Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), San Francisco, CA, USA, vol. 1 (2000) pp. 514\u2013520."},{"key":"S0263574720000752_ref3","unstructured":"3. Prabakaran, V. , Elara, M. R. , T. Pathmakumar and S. Nansai \u201cFloor cleaning robot with reconfigurable mechanism,\u201d Autom. Constr. 91, 155\u2013165 (2018)."},{"key":"S0263574720000752_ref18","unstructured":"18. Dai, J. and Rees, J. J. , \u201cMobility in Metamorphic Mechanisms of Foldable\/Erectable Kinds,\u201d Proceedings of 25th ASME Biennial Mechanisms and Robotics Conference (1999) pp. 375\u2013382."},{"key":"S0263574720000752_ref22","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511807497"},{"key":"S0263574720000752_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(79)90009-0"},{"key":"S0263574720000752_ref15","doi-asserted-by":"publisher","DOI":"10.1093\/acprof:oso\/9780199206650.001.0001"},{"key":"S0263574720000752_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2930432"},{"key":"S0263574720000752_ref19","unstructured":"19. Zou, Q. , Zhang, D. and Luo, X. , \u201cType Synthesis and Application of a Class of Single DOF Parallel Mechanisms with One Constraint Couple\u201d 2019 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (2019) pp. 295\u2013300."},{"key":"S0263574720000752_ref2","doi-asserted-by":"publisher","DOI":"10.1299\/kikaic.68.886"},{"key":"S0263574720000752_ref4","unstructured":"4. Sarabandi, S. , Grosch, P. , Porta, J. M. and Thomas, F. , \u201cA Reconfigurable Asymmetric 3-UPU Parallel Robot,\u201d 2018 International Conference on Reconfigurable Mechanisms and Robots (ReMAR) (2018) pp. 1\u20138."},{"key":"S0263574720000752_ref23","first-page":"13","article-title":"Mechanical spider by using Klann mechanism","volume":"1","author":"Lokhande","year":"2013","journal-title":"Int. J. Mech. Eng. Comput. Appl."},{"key":"S0263574720000752_ref10","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918815757"},{"key":"S0263574720000752_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-51532-8_15"},{"key":"S0263574720000752_ref20","unstructured":"20. Ghosal, A. , \u201cManipulator Kinematics,\u201d In: Handbook of Manufacturing Engineering and Technology (2015) pp. 1777\u20131808."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574720000752","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,4,7]],"date-time":"2021-04-07T09:03:27Z","timestamp":1617786207000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574720000752\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,9,10]]},"references-count":23,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2021,5]]}},"alternative-id":["S0263574720000752"],"URL":"https:\/\/doi.org\/10.1017\/s0263574720000752","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2020,9,10]]}}}