A5072926488- Robotic Mechanisms and Dynamics
- Mechanical Engineering and Vibrations Research
- Gear and Bearing Dynamics Analysis
- Mechanics and Biomechanics Studies
- Robotic Locomotion and Control
- Robot Manipulation and Learning
- Hydraulic and Pneumatic Systems
- Dynamics and Control of Mechanical Systems
- Soft Robotics and Applications
- Prosthetics and Rehabilitation Robotics
- Control and Dynamics of Mobile Robots
- Modular Robots and Swarm Intelligence
- Advanced Numerical Analysis Techniques
- Tribology and Lubrication Engineering
- Iterative Learning Control Systems
- Industrial Automation and Control Systems
- Robotic Path Planning Algorithms
- Vehicle Dynamics and Control Systems
- Advanced Sensor and Control Systems
- Metallurgy and Material Forming
- Muscle activation and electromyography studies
- Manufacturing Process and Optimization
- Advanced machining processes and optimization
- Advanced Theoretical and Applied Studies in Material Sciences and Geometry
- Soil Mechanics and Vehicle Dynamics
Università degli studi di Cassino e del Lazio Meridionale
2016-2025
University of Rome Tor Vergata
2020
University of the Basque Country
2020
Tianjin University
2020
Tokyo Institute of Technology
2020
Takeda (Japan)
2020
RWTH Aachen University
2020
Columbia University
2020
University of Naples Federico II
2020
University of Udine
2020
The synthesis of elliptical gears is formulated using envelope theory by means a suitable shaper-cutter with involute tooth profile. A general algorithm producing the pitch curves and their rack any number lobes proposed. Evolutes can be also obtained in order to choose shaper-cutter, even for concave-convex profiles. complete both meshing reported, several graphical results being shown design analysis purposes. Computer animations are available.
The subject of this paper is the formulation a general algorithm that aimed to obtain and analyze first- second-order centrodes both coupler links Stephenson III six-bar mechanisms, along with corresponding pairs Bresse’s circles. position vectors instantaneous centers rotation acceleration are expressed as vector functions driving input angle mechanism apply fundamental theorems for velocities accelerations, respectively. Thus, proposed has been formulated by using algebra validated through...
In this paper, a specific parametric and open-source algorithm for the direct inverse kinematics of UR5e Cobot is formulated by using (n, o, a, p) transformation matrix, along with matrices, then implemented in Matlab numerical validation purposes. Thus, robotized cell that includes novel mechatronic devices has been designed built at LARM (Lab. Robotics Mechatronics) Cassino order to experimentally validate proposed algorithm. particular, many experimental points carry out whole automatic...
In this paper we propose an analytical formulation for simulation and design of a one d.o.f. articulated finger mechanism with three phalanges. The is based on study the operation index human finger. particular, have proposed suitable mechanical anthropomorphic as both approximation architecture easy practical design. Kinematic characteristics are illustrated numerical examples.
As the coupler link of an RCCC linkage moves, its instant screw axis (ISA) sweeps a ruled surface on fixed link; by same token, ISA describes itself corresponding surface. These two surfaces are axodes linkage, which roll while sliding and maintaining line contact. The not only help to visualize motion undergone but also can be machined as spatial cams replace four-bar if need arises. Reported in this paper is procedure that allows synthesis linkage. turn, based dual algebra principle...
A nonlinear dynamic model of a Honeywell Lucifer-type EPP3 J-21-U-100-10 (now Parker P3P-R) pneumatic proportional pressure valve is formulated by modeling the valve's main internal mechatronic devices in order to simulate its behavior time and frequency domains, for several operating conditions different downstream loads. Mechatronic design functionality this are carefully analyzed considering each three standard working configurations three-way valve. The physical parameters introduced...
A general formulation of the synthesis pitch cones a pair N-lobed elliptical bevel gears and surface its conjugate crown-rack is proposed. In particular, two their are obtained for any number combination lobes in configuration during pure-rolling motion. This implemented MATLAB; several significant examples included, with circular becoming particular case thereof.
This paper deals with the formulation and validation of a comprehensive algebraic algorithm for kinematic analysis slider-crank/rocker mechanisms, which is based on use geometric loci, as fixed moving centrodes, along their evolutes, cubic stationary curvature inflection circle. In particular, both centrodes are formulated in implicit explicit forms by using complex algebra. Moreover, curves representing recognized proven to be Jeřábek’s first time. Then, circle expressed form instantaneous...
This paper approaches the design problem of suitable grippers for a robotic arm to pick up horticulture products. General considerations have been pointed out and main concepts mechanical designs discussed proposed by sketches drawings an easy understanding “on-field” problems feasible solutions. Pneumatic actuation has with grasp force control using commercial components. Specific attention focused on tomato practical prototyping device laboratory experiments.
Motivated by the need to synthesize tooth profiles of noncircular gears, we approach synthesis profile circular spur gears using their pitch circle, rather than base circle. We do this means envelope theory. The proposed formulation gives involute and its well-known circle for any radius angle rack cutter, which coincides with pressure gears. Then, foregoing applies curves rack. resorting basic differential geometry Euler–Savary Theorem, In particular, both right left is obtained, first...
This paper deals with a method for static and dynamic modeling of three-way pneumatic proportional valve actuated by means solenoid, which can be applied in robust design, condition monitoring, development advanced control strategies. Test-beds the experimental identification main physical parameters are described along proposed methods. A mechatronic model is then presented, considers servo-solenoid as electromagnetic subsystem, moving parts mechanical fluid flow-rate subsystem. Finally,...
Camus' concept of auxiliary surface (AS) is extended to the case involute gears with skew axes. In at hand, we show that AS an orthogonal helicoid whose axis (a) lies in cylindroid and (b) normal instant screw one gear respect its meshing counterpart; general, latter. According spatial version Theorem, any line or attached AS, particular L itself, can be chosen generate a pair conjugate flanks contact. While geometrically feasible, as they always share contact tangent plane each point this...
A second prototype of a biped walking robot, called EP-WAR2 (Electropneumatic WAlking Robot), has been designed and built at LARM (Laboratory Robotics Mechatronics) in Cassino. In addition to the performances previous EP-WAR, is able climb stairs because new actuation system. suitable programming programmable logic controller based on several subroutines, which run different motions specifically stairs. Experimental tests prove validity proposed low-cost design technique.
A suitable formulation and the implementing algorithms for involute octoidal bevel-gear generation are proposed in this paper. In particular, exact spherical tooth profile of bevel gears their crown rack is obtained through pure-rolling motion a great circle fundamental sphere on base cone. Moreover, flank surface as envelope flat during its pitch (surface) The have been implemented MATLAB; several examples included to illustrate applicability.