  Through the implementation of reconfigurability to achieve flexibility and
adaptation to tasks by morphology changes rather than by increasing the number
of joints, malleable robots present advantages over traditional serial robot
arms in regards to reduced weight, size, and cost. While limited in degrees of
freedom (DOF), malleable robots still provide versatility across operations
typically served by systems using higher DOF than required by the tasks. In
this paper, we present the creation of a 2-DOF malleable robot, detailing the
design of joints and malleable link, along with its modelling through forward
and inverse kinematics, and a reconfiguration methodology that informs
morphology changes based on end effector location -- determining how the user
should reshape the robot to enable a task previously unattainable. The
recalibration and motion planning for making robot motion possible after
reconfiguration are also discussed, and thorough experiments with the prototype
to evaluate accuracy and reliability of the system are presented. Results
validate the approach and pave the way for further research in the area.
