This paper presents proposals for a robotic system that will be used for pipeline cutting in decommissioning of nuclear plants for freeing nuclear vessels from their concrete frames. Environment characteristics are di...
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This paper presents proposals for a robotic system that will be used for pipeline cutting in decommissioning of nuclear plants for freeing nuclear vessels from their concrete frames. Environment characteristics are discussed to determine design constraints that together with operation requirements have brought to design considerations that are used to outline possible system solutions. The presented system is a special service application of robotic systems as due to the peculiarities of radioactive environment and disassembly operations.
This section addresses key aspects that are related with stiffness properties when dealing with grasping tasks. Main theoretical aspects are formulated for computing the Cartesian stiffness matrix via a proper stiffne...
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In this paper, a historical evolution of graphical representation of gear designs is reported as a short survey by using significant drawings bath in the history of gear systems and design standards. A graphical repre...
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In this paper, a rickshaw robot has been characterized from aspects of mechanical design and experimental tests. Experiments have been done to measure the contact forces between the feet and terrain, acceleration of t...
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This paper describes a low-cost control architecture that has been developed at larm for operating the three-dofs parallel manipulator CaPaMan (Cassino Parallel Manipulator) in service applications. Main advantages of...
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In this keynote lecture, manipulator workspace is presented by discussing its basic characteristics as fundamental for design and operation of mechanical systems in manipulation applications. Algorithms are explained ...
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This paper describes a low-cost control architecture that has been developed at larm for operating the three-dofs parallel manipulator CaPaMan (Cassino Parallel Manipulator) in service applications. Main advantages of...
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This paper describes a low-cost control architecture that has been developed at larm for operating the three-dofs parallel manipulator CaPaMan (Cassino Parallel Manipulator) in service applications. Main advantages of the proposed control architecture are outlined with emphasis to user-friendly features that have been achieved also via a suitable virtual instrument in Labview environment. Preliminary experimental tests show the feasibility of the proposed control architecture.
An extensive research activity has been focused on the upper and lower limbs of humanoid robots. However, due to mechanical design difficulties and complex control of multi-body system, the torso of humanoid robot is ...
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An extensive research activity has been focused on the upper and lower limbs of humanoid robots. However, due to mechanical design difficulties and complex control of multi-body system, the torso of humanoid robot is somehow a neglected or simplified design part. In this paper, operation performance of a new waist-trunk system as torso for humanoid robots is presented through results of lab experimental tests. The proposed waist-trunk system is composed of two 3 DOFs （degrees of freedom） parallel manipulators, which are connected in a serial chain architecture. A prototype is built by using two prototypes of CaPaMan （Cassino Parallel Manipulator）, which are convenient stiff architectures with easy-operation characteristics. Experimental tests are carried out with the aims to imitate lateral-bending and transverse-rotation movements of human torso. Operation performances like displacements, accelerations, and actuation torque are measured for a performance evaluation and design characterization of the used manipulator solution imitating human torso. Experimental test results are illustrated and discussed to show the practical operation feasibility of the proposed architecture and the operation characteristics of the built prototype.
Abstract This paper presents a solution for improving the obstacle overcoming ability of larm leg mechanism. In order to guide the solution, an analysis on gait adjustment is discussed with design guidelines. Kinemati...
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Abstract This paper presents a solution for improving the obstacle overcoming ability of larm leg mechanism. In order to guide the solution, an analysis on gait adjustment is discussed with design guidelines. Kinematic equations of the proposed leg mechanism are formulated for a computer oriented simulation of operation overcoming obstacles. Numerical simulations are made to indicate that the solution is feasible.
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