Matteo Russo

Kinematic Design of a Tripod Parallel Mechanism for Robotic Legs

In this paper a parallel manipulator with tripod architecture is proposed with the closed-form formulation of its functioning. The mechanism is 3-Degrees-of-Freedom manipulator that can be used as robotic leg for mobile walking robots with two or more legs. The kinematic design is characterized by direct linear drives in the links of the tripod architecture and by a mechanism providing a spherical motion to the foot end-effector.

HeritageBot Service Robot assisting in Cultural Heritage

This paper presents results of HeritageBot, a regional research project for developing a robotic platform to be used in Cultural Heritage frameworks. The design and a prototype of HBOT Platform for demo purposes is introduced with features of low-cost construction and user-oriented performance. The design requirements are presented for application in monitoring and working within frames for conservation of goods of Cultural Heritage with characteristics that are aimed for technological transfer and entrepreneurship plans.

Prototype and Testing of HeritageBot Platform for Service in Cultural Heritage

The paper presents of a prototype of HeritageBot Platform for demo purposes with features of low-cost construction and user-oriented performance. The design requirements are presented for application in monitoring and working within frames for conservation of goods of Cultural Heritage. The design of the robotic platform is conceived with modular structure with a module for locomotion and a module for short flight. A prototype is presented with its construction peculiarities and preliminary test results through an evolution of solutions.

Force transmission and constraint analysis of a 3-SPR parallel manipulator

This paper presents an analysis of a novel 3-SPR parallel manipulator with 3 degrees-of-freedom that is characterized by a mobile platform consisting of a single point where all the three open-loop kinematic chains converge. The constraint singularity problem of the mechanism is solved in closed form by computing the Jacobian of the manipulator. Then, the expression of the transmission index is obtained for the 3-SPR manipulator by using the pressure angle definition. In order to evaluate the influence of secondary parameters, an equivalent 6-SPS mechanism is analyzed and its transmission index is computed in the parameter space. Finally, the proposed manipulator is compared to a standard 3-SPR parallel mechanism to investigate the influence of the mobile platform radius over transmission index and workspace volume. The results are discussed in order to highlight the advantages and disadvantages of the proposed structure of parallel manipulator.

Experiences and Design of a Cable-Driven Assisting Device for Arm Motion

This paper presents a cable-driven assisting device, which has been designed and built at LARM in Cassino. Experimental tests are presented as the basis for design improvements aiming to achieve a portable user-oriented solution of the cable-driven assisting device for applications in human upper limb exercising and rehabilitation. Experimental tests are reported to show the engineering feasibility and soundness of the proposed solutions.

Design of CUBE, a Cable-Driven Device for Upper and Lower Limb Exercising

This paper introduces CUBE, a cable-driven parallel robot for the assistance of patients in rehabilitation exercising for both upper and lower limb. The system is characterized by a lightweight foldable structure that is easy to set-up in different configurations. It can adapt to different exercises and to the available environment. Its cable-driven design makes it inherently safe in human/robot interactions also due to the extremely low inertia. The design is presented with its kinematic and dynamic analysis and validated through a first prototype.

An Experimental Characterization of a Parallel Mechanism for Robotic Legs

A novel robotic leg mechanism based on a parallel architecture is described in this paper. A walking operation of the mechanism is defined and characterized as function of its main design parameters through a numerical simulation. The same operation is then performed by a prototype of the proposed design that has been manufactured through 3D printing. Finally, the results of the numerical simulation and of the experimental tests are compared and discussed.

Multi-objective Optimization of a Tripod Parallel Mechanism for a Robotic Leg

This paper presents the multi-objective optimization of a three-degree-of-freedom parallel manipulator. First, the geometry of the mechanism is described and its kinematic and static performance is characterized with closed-form expressions of workspace volume and force efficiency. These indices are used as objective functions of the optimization, which is then conduced in order to compute the optimal design of the manipulator. Finally, the results of the multi-objective optimization are reported and discussed.

Design and Simulation of a Parallel-Serial LARMbot Arm

In this paper, a novel robotic arm for LARMbot humanoid is designed as based on parallel-serial structure is described. The upper arm is a tripod parallel structure with 3-Degrees-of-Freedom that are actuated by linear motors, while the forearm is a serial link controlled by a single servomotor. The structure is characterized with its kinematics and a CAD design is proposed in order to test its functioning.

HeritageBot platform for service in Cultural Heritage frames

A service robot for Cultural Heritage frames is proposed as a novel robotic platform with a modular design for both ground locomotion and flight capability. The peculiarities of the system are discussed by performance evaluation via simulation. A prototype has been built and tested both to prove the feasibility of the proposed design and to characterize its operation performance.