Arm-Z Oblique Swivel Manipulator

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This Demonstration shows the simple movements of an Arm-Z oblique swivel joint chain manipulator. Arm-Z is a conceptual manipulator composed of congruent modules, each having one degree of freedom (1-DOF), a relative twist.

Contributed by: Machi Zawidzki (August 25)
Open content licensed under CC BY-NC-SA


This work was completed as part of the project titled Arm-Z: an extremely modular hyperredundant low-cost manipulator – development of control methods and efficiency analysis, funded by OPUS 17 research grant No. 2019/33/B/ST8/02791 supported by the National Science Centre, Poland.


[1] E. Zawidzka and M. Zawidzki, "Simulation of Simple Movements of Arm-Z Oblique Swivel Joint Chain Manipulator," Journal of Automation, Mobile Robotics and Intelligent Systems, 27(248), 2023 pp. 59–67. doi:10.14313/PAR_248/59.

[2] E. Zawidzka and M. Zawidzki, "Discrete (Two-State) Modular Hyper-Redundant Planar Manipulator," Computer Assisted Methods in Engineering and Science, 29(4), 2022 pp. 397–407.

[3] E. Zawidzka and M. Zawidzki, "Kinetic Street Furniture with Arm-Z," in International Conference on High Performance and Optimum Structures and Materials Encompassing Shock and Impact Loading (S. Hernández and G. Schelyer, eds.), WIT Transactions on the Built Environment, 209, 2022 pp. 15–22. doi:10.2495/HPSU220021

[4] E. Zawidzka, W. Ki\:0144ski and M. Zawidzki, "Preliminary Prototype of a 4-Unit Arm-Z Hyper-redundant Modular Manipulator," in Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques (R. Szewczyk, C. Zieli\:0144ski and M. Kaliczy\:0144ska, eds.), Cham: Springer, 2022 pp. 285–294. doi:10.1007/978-3-030-74893-7_27.

[5] M. Zawidzki and J. Szklarski, "Transformations of Arm-Z Modular Manipulator with Particle Swarm Optimization," Advances in Engineering Software, 126, 2018 pp. 147–160. doi:10.1016/j.advengsoft.2018.05.003.


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