MORPHEUM: Modular and reconfigurable parallel kinematic robot

Conceived and realised entirely by ITIA-CNR, Morpheum (Modular Reconfigurable Parallel Upgreadeable Machine) is a parallel kinematic robot for assembly and pick and place operations. In 2003 ITIA-CNR launched the Morpheum project for the development of an innovative system: machine + PC based control system + viewing system. The main innovative features of Morpheum are its modularity and reconfigurability, that allow the variation (from 2 to 6) of the machine degrees of freedom. Morpheum has a working space of 600x400x400 mm. The maximum speed is 3 m/s and the maximum acceleration is 40 m/s2.
Morpheum combines its highly modular and reconfigurable structure to top dynamics and a variable load capacity, conceived to tackle the continuous changes in production lots.
The reconfigurability consists of the possibility to expand the basic configuration of the machine to increase the number of degrees of freedom. This is achieved in a systematic way that leads to optimal configurations according to the needs of the end-user.
The modularity is given by the possibility to re-configure the machine with the use of identical and interchangeable mechanic parts.
The main applications of the machine are:
- Packaging
- Fast handling
- Assembly
- Laser and WaterJet Cutting
- Machine loading

Morpheum, which has been on display at the EMO 2003, is a result of the ITIA-CNR activities on the PKMs (Parallel Kinematic Machines) launched in 1995 with the design and the development of the first prototype, called Acrobat.
These activities were followed up with the design and manufacture of Dragon Fly2 and the PKM 3x, used as prototypes by firms of the Zanussi group.
In 2000, ITIA designed and produced the Dragon Fly robot used in the Vigevano workshop for the roughing and cementing of shoe upper bottom.

For more information related to the design and the development of parallel kinematic robot, please contact Lorenzo Molinari Tosatti ( +39 02 23699962), ITIA responsible for this research field.
For more information related to Morpheum contact Simone Negri (

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