Roberto P. Razzoli

Epi.q‐TG: mobile robot for surveillance

Purpose – The purpose of this paper is to describe the development of a robot for surveillance able to move in structured and unstructured environments and able to overcome obstacles with high energetic efficiency.Design/methodology/approach – The proposed Epi.q‐TG hybrid robot combines wheeled and legged locomotion. It is equipped with four three‐wheeled locomotion units; traction is generated by the two forecarriage units, while the two rear ones have same geometry but are idle. Each front unit is actuated by a single motor with the interposition of an epicyclical gearing, accurately designed in order to suitably switch between wheeled and legged motion. The robot changes locomotion mode from rolling on wheels (advancing mode) to stepping on legs (automatic climbing mode) according to local friction and dynamic conditions.Findings – The experimental results confirm the design objectives. In advancing mode, the robot behaves like a four‐wheeled vehicle, with high speed and energetic efficiency. In automa...

A Modular Approach for a Family of Ground Mobile Robots

This paper deals with Epi.q, a family of mobile robots whose main characteristic is a wheel-legged hybrid locomotion. These multi-purpose robots can be successfully exploited for security and surveillance tasks. The document presents state of the art security robotics, the Epi.q mechanical architecture, the concept behind the robot driving unit, three prototypes and the design of a new one.

A modular robotic system for industrial applications

Purpose – The aim of this paper is the development of a modular robotic system for generic industrial applications, including assembly.Design/methodology/approach – A library of robotic modules has been designed; they are divided into two categories: link modules, not actuated, and joint modules, actuated; the library is characterized by a relatively low number of elements, but allows the assembly of a wide variety of medium‐size serial robots.Findings – The prototypes of two joint modules (a revolute joint module and a wrist module) and of some link modules have been realized. The behaviour of several serial robots composed of the designed modules has been assessed by multibody simulation. The results confirm the goodness of the proposed approach.Research limitations/implications – The two prototype modules are under test in combination with simplified modules. The further steps of the research programme will be the completion of the prototype library, and an experimental campaign on different serial cha...

Humanitarian demining : path planning and remote robotic sweeping

Purpose – Humanitarian demining is addressed as an engineering‐driven duty, aiming at optimal price/effectiveness figures, joining low‐cost robotics and flexible automation. The mine sweeping is highly dangerous task, and safety is sought by automatic rigs, with remote steering and control. The small price is achieved with resort to locally available equipment, technology and know‐how.Design/methodology/approach – The robotic solutions are split at three levels: the mobility enabler, exploiting standard agricultural machinery; the demining outfits, specialising cheap end‐effectors; the robot path planner, exploring reliable remote govern options. The approach aims at the pace‐wise deployment of consistent rigs with assessed productivity and tiny investment.Findings – The paper explores basic ideas to modify common agricultural machines, placing in front proper effectors and specifying the guidelines needed to choose both carriers and suitable demining tools. The remote command logic of the suggested demin...

Epi.Q Mobile Robots Family

The family of Epi.q mobile robots is based on a three-wheeled locomotion unit which is capable of switching between wheeled locomotion and legged locomotion depending on the dynamic conditions, without control intervention. This feature allows to conjugate the benefits of both the locomotion modes: high speed and energetic efficiency on even terrains with the wheeled locomotion, and mobility performance on uneven terrains and in presence of obstacles with the legged locomotion. Two prototypes of the Epi.q family have been already realized and tested, with positive results; a further evolution with four actuated locomotion units (instead of two active and two idle units) is currently under construction. The present paper outlines the evolution of the family of Epi.q mobile robots and proposes several possible architectural evolutions exploiting a modular approach; this approach could be used also to simplify the design phase, obtaining different mobile robots from a limited set of base modules.Copyright

A low-cost reconfigurable gripper for assembly and disassembly tasks in white industry

Abstract The paper addresses the flexible assembly and disassembly of electro-mechanical products in white industry. The work is in the frame of a research project on modular assembly systems for innovative production systems. For the assembly and disassembly of washing-machine components, instead of a sequence of dedicated stations with specialized grippers designed for each component, the alternative solution of high-degree-of-freedom assembly cells using reconfigurable grippers for components holding and handling is investigated. A low-cost, multifunctional adaptable gripper for handling cylindrical and prismatic shaped parts within dimensional ranges typical of the washing machines components, as provided by the industrial partner Electrolux-Zanussi, is presented and its functionalities shown and evaluated.

Epi.q Robots

Over the last few years there have been great developments and improvements in the mobile robotics field, oriented to replace human operators especially in dangerous tasks, such as mine-sweeping operations, rescuing after earthquakes or other catastrophic events, fire-fighting operations, working inside nuclear power stations and exploration of unknown environments. Different locomotion systems have been developed to enable robots to move flexibly and reliably across various ground surfaces. Usually, mobile robots are wheeled, tracked and legged ones, even if there are also robots that swim, jump, slither and so on. Wheeled robots are robots that use wheels for moving; they can move fast with low energy consumption, have few degrees of freedom and are easy to control, but they cannot climb great obstacles (in comparison with robot dimensions) and can lose grip on uneven terrain. Tracked robots are robots that use tracks for moving; they are easily controllable, also on uneven terrain, but are slower than wheeled ones and have higher energy consumption. Legged robots are robots that use legs for moving; they possess great mobility and this makes them suitable for applications on uneven terrain; conversely, they are relatively slow, require much energy and their structure needs several actuators, with increased control complexity. Of course each robot class has advantages and drawbacks, thus scientists designed new robots, trying to comprise the advantages of different robot classes and, at the same time, to reduce the disadvantages: these robots are called Hybrid robots.

Product Lifestyle Design: Innovation for Sustainability

The product lifestyle design is necessary sustainable growth accomplishment, enforced by the enacted eco-regulations. The paper discusses the incumbent restructuring of the manufacturing companies, recalling the innovation at the design phase, by effective product-process-environment-enterprise, 2P2E, integration, supported by suitably detailed modelling and simulation features, MS service dealers, for the extended enterprise added value operations; recovery rulers, for reverse logistics accomplishments and tasks overseeing. A short outlook of the topics is sketched, and, for explanatory purposes, example developments are recalled, referred to industrial situations emerging from the recent EU environmental policy.

The Mankind Growth Consistency: Outlook on Political Sceneries

The international stability is viewed as corollary of the sustainable growth. This has only technology-driven solution, at global village extension, with required appropriateness and shared acceptation. The survey, on such guess, looks at the robot age potential, as supplementary aid in the balanced world deployment that adds to the socio-economic and politico-legal frames. The analysis moves from the globalisation issues, at the known (economic) global and (ecologic) no-global pictures, to outline the traits of the post-global robot age, consistent with the sustainable growth, international stability, and grounded on the force of the law. Stability based on the law of the force was the past option, even allowing steady truces. In this analysis, globalisation makes this choice unfit, having doubtful economic and social sustainability and not achieving ecologic sustainability consistently and for the long term.

Co-operative minimally invasive robotic surgery

Purpose – The purpose of this paper is to consider surgical robotics, with a focus on technology and design issues for remote‐mode operation assistance. The investigation leads to the definition of the technical characteristics of a co‐robotic positioning device (CRPD), to be developed in support of a split‐duty approach to planning. The expected characteristics and advantages are outlined, including the operation potential of special‐purpose devices (e.g. an automatic changer for surgical tools) and of scope‐driven enhancers (e.g. the exploration of the intervention theatre).Design/methodology/approach – The paper addresses example developments based on projects performed with the co‐operation of other robot laboratories in Munich and Paris. The CRPD concept is applied in relation to the DLR KineMedic® arm (developed by the Munich laboratory), and with the LRP prototype mini‐arm (built by the Paris laboratory).Findings – Minimally‐invasive surgery deserves increasing attention to reduce post‐operative ho...