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检索条件"机构=LARM: Laboratory of Robotics and Mechatronics"

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Design and Simulation for an Indoor Inspection Robot 1

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2nd International Scientific Conference on Innovation in Engineering, ICIE 2022

作者： Ottaviano, Erika Figliolini, Giorgio LARM Laboratory of Robotics and Mechatronics University of Cassino and Southern Lazio via Di Biasio 43 FR Cassino03043 Italy

ISBN: (数字)9783031093852

ISBN: (纸本)9783031093845

In this paper, we propose the design and simulation for an inspection robot that can be effective in indoor or outdoor surveys. robotics are traditionally employed wherever human limits are achieved. In the context of inspection of structures and infrastructure, automatic or semiautomatic solutions can be used for monitoring purposes for securing the access to the manholes and pipes. Indeed, the proposed robot can be effective for the survey of indoor sites, which are difficult or almost impossible to access, and for which tele-operated survey by mobile robots can be a solution. As an illustrative case of study, we refer to the inspection of box girder bridges, in which obstacles are represented by steps, longitudinal stiffeners, and debris. In this paper, we propose the design and simulation for a hybrid rover developed for indoor and outdoor inspections, and equipped with suitable sensors to detect defects, such as cracks, or corrosion, according to the nature of the inspected elements. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Mobile robots

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A Study of Feasibility of a Mechanism for Rib-Vertebra-Sternum Prosthesis 13th

A Study of Feasibility of a Mechanism for Rib-Vertebra-Stern...

引用

Joint International Conference of the 13th IFToMM International Symposium on Science of Mechanisms and Machines, SYROM 2022 and 25th International Conference on robotics, robotics 2022

作者： Ramirez, O. Ceccarelli, M. Torres-San-Miguel, C.R. Escuela Superior de Ingeniería Mecánica y Eléctrica Sección de Estudios de Posgrado e Investigación Instituto Politécnico Nacional Unidad Profesional "Adolfo López Mateos" Zacatenco Mexico City Mexico LARM2: Laboratory of Robotics and Mechatronics Department of Industrial Engineering University of Rome Tor Vergata Roma00133 Italy

ISBN: (纸本)9783031256547

A mechanism with flexural joints is proposed as a prosthesis of a complex vertebra-rib-sternum. The flexible anatomic behavior is replicated by a mechanism structure concentrating the flexibility in suitable flexural joint designs. The feasibility of the proposed design is characterized by numeral performance values from quasi-static simulations. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Bioinformatics

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A compliant mechanism as a sternum prosthesis

A compliant mechanism as a sternum prosthesis

引用

作者： Ramirez, Octavio Torres-San-Miguel, Christopher R. Ceccarelli, Marco Rueda Arreguín, José Luis Urriolagoitia-Calderón, Guillermo Instituto Politécnico Nacional Escuela Superior de Ingeniería Mecánica y Eléctrica Sección de Estudios de Posgrado e Investigación Unidad Profesional "Adolfo López Mateos" Zacatenco Mexico City Mexico LARM2: Laboratory of Robotics and Mechatronics Department of Industrial Engineering University of Rome Tor Vergata Rome00133 Italy

This paper presents a three-dimensional design of a compliant mechanism as a transmission system for its application in a novel human sternum prosthesis. The proposed compliant mechanism design is able to generate a coordinated movement between ribs during the respiratory process in human beings. Finite Element Method (FEM) analysis was performed in order to describe maximum stress values from the deformed elements of the mechanism by applying input forces. FEM results show that the compliant mechanism movements are proper for sternum prosthesis application, also it was possible to prove that maximum stress values generated in the mechanism, did not exceed the yield point of the material. Finally, by performing a fatigue analysis of the mechanism, it was possible to determine the maximum number of cycles that it can resist. Obtained results will be used to develop a complete design of the compliant mechanism and the sternum prosthesis in a prototype solution. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Prosthetics

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Dynamics of a Humanoid Robot with Parallel Architectures

Dynamics of a Humanoid Robot with Parallel Architectures

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作者： Russo, Matteo Ceccarelli, Marco LARM: Laboratory of Robotics and Mechatronics University of Cassino and Southern Latium Via G. di Biasio 43 Cassino03043 Italy

This paper describes a modular approach to formulate a dynamic model for larmbot 2, a humanoid robot that is designed as based on parallel architectures. First, the main advantages and issues of parallel architectures in humanoid robots are briefly analyzed. Then, the mechanical design of larmbot 2 is described with its modules, namely legs, arms, torso and head. An analysis of its degrees of freedom is reported, and the center-of-gravity Jacobian is evaluated for each module by using its kinematics. Finally, the result is used to formulate the equation of motion of larmbot 2, in order to obtain walking balance of the robot by coordinating the motion of all the modules. © 2019, Springer Nature Switzerland AG.

关键词： Anthropomorphic robots

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The arsenal of venice: The first "industrial" factory in history

The arsenal of venice: The first "industrial" factory in his...

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作者： Gasparetto, A. Ceccarelli, M. Polytechnic Department of Engineering and Architecture University of Udine Udine Italy LARM – Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy

In this paper the history of the Arsenal of Venice is presented with its significance of shipyard and naval industry with characters that have determined its long-standing successful work. The peculiarities of industrial environments are outlined with historical-technical milestones. Examples of machine designs are discussed to show the specific significance of technological achievements at the Venice Arsenal. © Springer Nature Switzerland AG 2019

关键词： Arsenals

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Numerical Simulation of a 2D Harmonic Oscillator as Coupling System for Child Restraint Systems (CRS)

Numerical Simulation of a 2D Harmonic Oscillator as Coupling...

引用

作者： Martínez- Miranda, Miguel Angel Torres San Miguel, Christopher Rene Flores-Campos, J. Alejandro Ceccarelli, Marco Escuela Superior de Ingeniería Mecánica y Eléctrica Sección de Estudios de Posgrado e Investigación Unidad Profesional Zacatenco Instituto Politécnico Nacional Mexico City Mexico Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas CDMX Instituto Politécnico Nacional Mexico City Mexico LARM2: Laboratory of Robotics and Mechatronics Department of Industrial Engineering University of Rome Tor Vergata Rome00133 Italy

In this research, a novel device is proposed to enhance children passive safety based on coupling for CRS. Its design can dissipate kinetic energy during different vehicular impacts angle. Methodology contemplates cartesian mechanism, featuring with springs and dampers modelled with CAD software, according to the R129 European standard. The appliance behaves as a 2D harmonic oscillator capable of reducing the decelerations reaches for the body child during a frontal crash. Numerical assessment under R129 guidelines shows a reduction of deceleration when is using the proposed coupling system with a typical CRS. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Kinetic energy

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Remote control of a robotic hand using a leap sensor

Remote control of a robotic hand using a leap sensor

引用

作者： Dawes, Felix Penders, Jaques Carbone, Giuseppe Department of Engineering and Mathematics Sheffield Hallam University Sheffield United Kingdom LARM: Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy

This paper presents a low-cost gesture-based remote control of a robotic hand. The proposed control architecture is based on a commercial leap motion sensor and an Arduino board, which have been chosen due to their low-cost and user-friendly features. A specific Matlab code has been implemented to collect data from the leap motion sensor and to generate proper instructions to control a robotic hand, which has been 3D print at Sheffield Hallam University. Experimental tests have been carried out validate the effectiveness of the proposed remote control for performing various grasping tasks. © Springer Nature Switzerland AG 2019

关键词： Remote control

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Design and testing of a finger exoskeleton prototype

Design and testing of a finger exoskeleton prototype

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作者： Gerding, Eike-Cristian Carbone, Giuseppe Cafolla, Daniele Russo, Matteo Ceccarelli, Marco Rink, Sven Corves, Burkhard Institut für Getriebetechnik Maschinendynamik und Robotik RWTH Aachen University Aachen Germany LARM: Laboratory of Robotics and Mechatronics University of Cassino and Southern Latium Cassino Italy

In this paper, a novel exoskeleton linkage is proposed for finger motion assistance in rehabilitation therapies because of reproducing finger motions. The exoskeleton linkage is composed of two chains in series giving a 2-degree-of-freedom full mechanism that is easily wearable. Design requirements are discussed to formulate a synthesis procedure whose design result gives a mechanical design for a prototype. The operation is simulated with results that are compared to experimental data with the built prototype to validate and characterize the proposed design. © Springer Nature Switzerland AG 2019

关键词： Exoskeleton (robotics)

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Simulation analysis of the structure of helicopter simulator steering column

Simulation analysis of the structure of helicopter simulator...

引用

作者： Yao, Shuangji Wang, Henan Zhao, Dingxuan Ni, Tao Ceccarelli, Marco College of Material Science and Engineering Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China LARM: Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Frosinone Italy

In this paper, the structure of a helicopter simulator steering column is proposed with a clever structure and automatic reset function which can better match the use of the helicopter simulator. The motion function in Solidworks is used to simulate the steering column, and the force curve is compared before and after the improvement of the steering column structure. The helicopter structure of the helicopter simulator with higher reliability is obtained through analysis. © 2019, Springer Nature Switzerland AG.

关键词： Reliability analysis

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Design and simulation of a parallel-serial larmbot Arm

Design and simulation of a parallel-serial LARMbot Arm

引用

作者： Russo, Matteo Ceccarelli, Marco LARM – Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy

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. © 2018, Springer International Publishing AG, part of Springer Nature.

关键词： Manipulators

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