Chiara Lanni

A multi-objective optimum design of general 3R manipulators for prescribed workspace limits

Manipulator design can be conveniently expressed as a function of workspace requirements, since a fundamental feature of manipulators is recognized in workspace capabilities. In this paper a suitable formulation for the workspace has been used for the manipulator design, which has been formulated as multi-objective optimization problem by using the workspace volume and robot dimensions as objective functions, and given workspace limits as constraints. Additional constraints have been included to obtain manipulator sizes within practical values. The optimum design has been successfully tested by numerical examples, which have also proved the efficiency of using an algebraic formulation for the workspace of 3R manipulators.

An analytical design for three circular-arc cams

In this paper we have presented an analytical description for three circular-arc cam profiles. An analytical formulation for cam profiles has been proposed and discussed as a function of size parameters for design purposes. Numerical examples have been reported to prove the soundness of the analytical design procedure and show the engineering feasibility of suitable three circular-arc cams.

An Optimization Problem Algorithm for Kinematic Design of Mechanisms for Two-Finger Grippers

In this paper, an analysis of mechanisms in two-finger grippers has been discussed to formulate an optimum design procedure. The design problem has been approached and formulated as a new optimization problem by using fundamental characteristics of grasping mechanisms. In particular, in order to optimize a mechanism for two-finger gripper, an original multi-objective optimum algorithm has been used by considering four different objective functions, such as grasping index, encumbrance of grasping mechanism, acceleration and velocity for finger gripper with respect to the imposed working area. A case study has been reported by using an 8R2P linkage for a proposed two-finger gripper mechanism. Numerical example has been computed to show the soundness of the proposed new optimum design procedure by referring to computational and practical results.

CaPaMan (Cassino Parallel Manipulator) as sensored earthquake simulator

We report results of successful experiences using CaPaMan (Cassino Parallel Manipulator) as an earthquake simulator. The paper describes the experimental set up for a sensored mobile plate for verifying the numerical simulations with practical experiments. Reproducing accelerometer diagrams of actual earthquakes has proved a practical feasibility. Some numerical and experimental results are reported in the paper to show the interest for this application of CaPaMan.

A Fairly Simple Method to Identify the Curvature of a Cam Profile

In this paper, the problem of identification of cam profiles is addressed by proposing a suitable kinematic model. A suitable test-bed has been designed and built at LARM: Laboratory of Robotics and Mechatronics in Cassino for experimental tests. The study proposed in this paper has been carried out specifically for circular-arc cams and validation tests have given satisfactory results for identification of the profile curvature.Copyright

An experimental validation of CaPaMan as earthquake simulator

In this paper we have reported results of successful experiences using CaPaMan (Cassino Parallel Manipulator) as an earthquake simulator. The paper describes the experimental set up for a sensored mobile plate so that we have verified the numerical simulations with practical experiments. Reproducing accelerometer diagrams of really happened earthquakes has proved the practical feasibility. Experimental results have been reported in this paper to show the interest for this application of CaPaMan.

Numerical and experimental analyses of radial cams with circular-arc profiles

Abstract Cam profiles with circular arcs can be useful for low-cost transmissions and for applications in micromachines. They are usually designed by means of graphical techniques. Recently, at Laboratory of Robotics and Mechatronics (LARM) in Cassino, a research line addressed the problems of modern design and characterization of cams with circular-arc profiles by looking at computer-oriented formulations and by investigating experimentally the operation characteristics. In this article, we have given an overview of the results achieved for radial cams and also attempted to extend to a general case that is useful for studying and validating any planar cam profile. The approach is algebraic, because it is based on the geometry of the mechanical design of circular-arc profiles. The experimental analysis has been conceived for a low-cost easy-operation performance of the circular-arc profiles, using a suitable test-bed that has been designed at LARM in Cassino. The results of the experimental tests are useful to validate both the numerical design procedure and the designed cam profiles. Examples are reported to illustrate the practical engineering feasibility of the proposed analysis procedures for radial cams with circular-arc profiles.

An Experimental Comparative Study on Non-Circular Gears and CAM Transmissions for a Blood Pumping System

In this paper, we have reported results of experimental activity for a characterization of mechanical transmissions with gears or cams. The study has been focused on specific transmission characteristics that are related to a mechanical blood pumping design. In particular, experimental tests have been analyzed to understand benefits and drawbacks for using non-circular gears and polynomial cams in pure mechanical transmissions with limited motion regulation but with specific prescribed motion law.Copyright

A study of feasibility for rickshaw type mobile robot

In this paper we have presented how to increase payload performance of the prototype of biped robot EP-WAR2 (Electro-Pneumatic Walking Robot) that was built in Cassino. We have proposed a mechanical design that copies rickshaws architecture and operation. A study of feasibility has been carried out and preliminary results are herein presented on mechanical characteristics and operation programming.

A Characterization of Cam Transmissions Through an Identification of Lumped Parameters

In this paper, a numerical-experimental procedure is proposed for an identification of parameters in cam transmissions. Models with lumped parameters are defined specifically for cam transmissions. Experimental tests are carried out on main components of a cam transmission in order to estimate the values of mass, damping and stiffness lumped parameters through a low-cost easy-operation procedure. Experimental tests are also carried out in order to characterize the dynamic behaviour of a whole cam transmission. A comparison of numerical and experimental results is used in order to calibrate the values of lumped parameters. Experimental tests have been carried out by means of suitable test-beds for cams that have been built specifically at University of Brescia and at LARM in Cassino as alternative testing solutions.Copyright