A5028258389- Robotic Mechanisms and Dynamics
- Soft Robotics and Applications
- Prosthetics and Rehabilitation Robotics
- Robot Manipulation and Learning
- Robotics and Sensor-Based Localization
- Modular Robots and Swarm Intelligence
- Robotic Locomotion and Control
- Dynamics and Control of Mechanical Systems
- Mechanical Engineering and Vibrations Research
- Mechanics and Biomechanics Studies
- Mechatronics Education and Applications
- Muscle activation and electromyography studies
- 3D Surveying and Cultural Heritage
- Control and Dynamics of Mobile Robots
- Robotics and Automated Systems
- Advanced Surface Polishing Techniques
- Underwater Vehicles and Communication Systems
- Robotic Path Planning Algorithms
- Power Line Inspection Robots
- Experimental Learning in Engineering
- Advanced Numerical Analysis Techniques
- Gear and Bearing Dynamics Analysis
- Balance, Gait, and Falls Prevention
- Ergonomics and Human Factors
- Industrial Automation and Control Systems
University of Cagliari
2019-2024
Università degli studi di Cassino e del Lazio Meridionale
2010-2020
BT Group (United Kingdom)
2003
Sit-to-stand can be considered the most common daily-life activity and it defined as a change of posture, in which base support is transferred from seat to feet. It requires both voluntary movement different body segments that contribute equilibrium control during an important displacement Centre Of Gravity body. This crucial importance for elderly people with reduced mobility achieve minimal independence at home. In this study, we present compare three design solutions mechanisms used...
The management and preservation of heritage assets are important issues for their sustainability further maintenance. Classical approaches mainly rely on human activities that time consuming with high costs. In addition, mandatory actions required, often clash the difficulty access to sites, cost, invasiveness investigations. Mechatronic advanced tools can be developed efficiently used as technological solutions address problem. Our project's aim is test low-cost technologies monitor manage...
SUMMARY In this paper the design and operation for a 2-Degree-of-Freedom, leg–wheel hybrid mobile robot are presented. A prototype of low-cost easy-to-use system, which is capable straight walking steering with two actuators only, has been designed built. Simulation experimental tests have carried out to verify engineering feasibility proposed solution. The can be used applications such as surveillance inspection disaster sites.
In this paper, the design, simulation and experimental tests are presented for THROO: a Tracked Hybrid Rover, which has been developed to Overpass Obstacles. The proposed mobile robot 3-DOFs it is capable of straight motion, turning ability two operations, namely rover-like motion with tracks on flat terrain walking-like track legs overpass obstacles move uneven terrain. leg mechanism composed four-bar linkage, synthesized according desired features. particular, Burmester problem, aims at...
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...
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...
Purpose The paper aims to present a new mechanical scheme for leg be included in legged vehicles that simplifies the control actuations along stride. Design/methodology/approach includes three four‐bar links grouped two mechanisms. first one decouples vertical and horizontal foot movements. second produces constant velocity when corresponding motor is given speed. A hybrid robot with wheels at end of hind legs has been simulated constructed validate performance. Findings gait requires only...
In this paper, simulation and experimental tests are reported for a hybrid robot being used indoor outdoor inspections. Automatic or tele-operated surveys can be performed by mobile robots, which represent the most efficient solution in terms of power consumption, control, robustness, overall costs. context structures infrastructure inspection, robots must able to move on horizontal sloped surfaces overpass obstacles. mechatronic design, simulations, activity proposed inspections, when...
Assistive and rehabilitation technologies deal with solutions aiming at sustaining or enhancing individual’s capabilities autonomy, thereby improving their overall welfare. In the framework of devices developed for daily life activities, we focus our attention on Sit-to-Stand (STS) devices, by proposing an innovative solution based a mechanism that has been synthesized, designed, built tested as prototype version accomplishing task. The mechatronic system serves requested motions standing...
The mechatronic design of Ca.U.M.Ha. (Cassino-Underactuated-Multifinger-Hand) and the analysis some experimental grasping tests a built prototype are presented in this paper. robotic hand shows an anthropomorphic since provided four articulated fingers simplified contrasting thumb, which all joined to rigid palm. main characteristics underactuation each finger mechanism with three phalanxes common operation through PWM (pulse- width-modulation) modulated pneumatic digital valves actuation....
The overall design of Ca.U.M.Ha. (Cassino-Underactuated-Multifinger-Hand) for harvesting horticulture products is presented. shows an anthropomorphic incorporating four underactuated finger mechanisms and a simplified contrasting thumb, which are all joined to rigid palm. pneumatic cylinders the articulated fingers operated in parallel order give additional auto-adaptability on object grasp. An application grasping different shapes apples
A general algorithm for the kinematic synthesis of Geneva mechanisms with curved slots is introduced here, when a suitable displacement program given aim avoiding typical shock-loading problems conventional mechanisms. Moreover, effects design parameters are analyzed through significant numerical examples. These are: number driving cranks; slots; imposed program; and pin radius crank mechanism.
This paper fits into the field of research concerning robotic systems for rehabilitation. Robotic are going to be increasingly used assist fragile persons and perform rehabilitation tasks affected by motion injuries. Among recovery therapies, mirror therapy was shown effective functional an arm after stroke. In this we present a master/slave device based on paradigm wrist The is designed orient in real time according imposed healthy wrist. shows kinematic analysis system, numerical...
The subject of this paper is the kinematic synthesis volumetric rotary machines, also known as GeRotors (GEnerated ROTORs), which are based on planetary motion suitable regular curve-polygons. In particular, outer and inner conjugate profiles a generating curve-polygon with any number lobes different circumcircle rounded corner radii were synthesized envelope curves polycentric profiles. This enabled cusp corners to be obtained, in case Reuleaux triangle. proposed formulation was then...