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作者： Temirbekov, E.S. Kaiym, T.T. Ceccarelli, M. Bostanov, B.O. Kaimov, S.T. Kaimov, A.T. Institute of Mechanics and Engineering named after Academician U.A.Dzholdasbekov Almaty Kazakhstan Almaty University of Energy and Communications Almaty Kazakhstan Al-Farabi Kazakh National University Almaty Kazakhstan LARM: Laboratory of Robotics and Mechatronics DiCEM University of Cassino and Southern Latium Via di Biasio 43 CassinoFR03042 Italy

In this paper considers the problem of simulating two grasping schemes of the robot manipulator, created by the authors for the overload of solid highly radioactive waste of fuel elements. Two schemes, previously proposed by the authors as grasps, are investigated. One - rod, the second - innovative with flexible actuators. For the grasps considered, some results are given: Static calculations for flat grasping models;3D models of grasp;the strength and rigidity of one 3D model are calculated. © Springer Nature Switzerland AG 2019

关键词： Rigidity

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Dynamic modeling and simulation of sliding mode control for a cable driven parallel robot

Dynamic modeling and simulation of sliding mode control for ...

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作者： Inel, F. Mansouri, Z. Ceccarelli, M. Carbone, G. Mechanical Engineering Department University of Skikda Skikda Algeria Technology Department University of Skikda Skikda Algeria LARM: Laboratory of Robotics and Mechatronics DICeM: University of Cassino and South Latium Cassino Italy

In this paper we propose a dynamic sliding mode control strategy for a cable-driven parallel robot. The proposed control algorithm provides stability of the end-effector for improving the robot performance in terms of tracking a desired path. A non-linear control technique is proposed for a robust management of uncertainty and error conditions. Numerical simulations have been carried out by developing a specific code which includes a graphical user interface for a user-friendly real time visualization of end-effector position as well as modification of the system parameters. Results of simulation for a dynamic model with sliding mode control are discussed for different trajectories applied for this robot, in order to confirm the validity of accurate tracking of a desired path. The effectiveness of the proposed robust control scheme is demonstrated through different simulation results. © 2018, Springer International Publishing AG, part of Springer Nature.

关键词： Sliding mode control

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A workspace analysis of 4R manipulators via level-set formulation

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International Federation for the Promotion of Mechanism and Machine Science, IFToMM 2016

作者： Russo, Matteo Ceccarelli, Marco LARM: Laboratory of Robotics and Mechatronics DICEM University of Cassino and South Latium Via G. Di Biasio 43 CassinoFR03043 Italy

ISBN: (纸本)9783319441559

This paper presents a workspace analysis of a general 4R manipulator by using a level-set formulation. This formulation is used to detect the main features of the workspace, such as points corresponding to singular configurations, voids and regions with multiple IK solutions. The effect of the variation of kinematic parameters is discussed through numerical examples. © Springer International Publishing Switzerland 2017.

关键词： Kinematics

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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

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Frontiers of Mechanical Engineering 2016年第2期11卷 144-158页

作者： Mingfeng WANG Marco CECCARELLI Giuseppe CARBONE School Of Mechanical and Electrical Engineering Central SouthUniversity Changsha 410083 China Laboratory of Robotics andMechatronics (LARM) DICeM University of Cassino and SouthLatium Cassino 03043 Italy Laboratory of Robotics and Mechatronics (LARM) DICeM Universityof Cassino and South Latium Cassino 03043 Italy

A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three- dimensional model is elaborated in SolidWorks environ- ment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in *** environment with the aims of characterizing and evaluat- ing the dynamic walking design. Simulation results performance of the proposed show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on fiat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

关键词： feasibility study biped locomotor bipedwalking mechanical design dynamic simulation tripodleg mechanism 3-UPU parallel manipulator

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Design and simulation of a cable-pulley-based transmission for artificial ankle joints

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Frontiers of Mechanical Engineering 2016年第2期11卷 170-183页

作者： Huaxin LIU Marco CECCARELLI Qiang HUANG Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing 100081 China Laboratory of Robotics and Mechatronics (LARM) DICeM University of Cassino and South Latium Cassino 03043 Italy Beijing Innovation Center for Intelligent Robots and Systems Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

关键词： biomimetic designs ankle joints cable-pulleytransmissions multi-body dynamic simulation numericalcharacterization

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Design and validation of a PKM structure for a humanoid torso 14

Design and validation of a PKM structure for a humanoid tors...

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14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015

作者： Cafolla, Daniele Ceccarelli, Marco LARM: Laboratory of Robotics and Mechatronics DICEM University of Cassino and South Latium Cassino Italy

ISBN: (纸本)9789860460988

Artificial torso is a fundamental part of humanoid robots with special features of mimic human performance. In this paper, a novel torso design is presented with waist and trunk modules with PKM structures, as inspired by human anatomy. The design is presented with numerical results of dynamic simulation in ADAMS environment with the aim of testing the feasibility of the proposed solution and characterizing its operation performance.

关键词： Machine design

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Design and FEM analysis of a novel humanoid torso 5

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5th International Symposium on Multibody Systems and mechatronics, MUSME 2014

作者： Cafolla, Daniele Ceccarelli, Marco LARM: Laboratory of Robotics and Mechatronics DICEM University of Cassino and South Latium Cassino Italy

ISBN: (纸本)9783319098579

An effective trunk behaviour is one of the most important factors for a humanoid to accomplish any given task using stable operations. In this paper, a novel structure that can reproduce a human-like movement of the torso-pelvis part with a pure simple low-cost rotation mechanism easy to realize and control is proposed. © Springer International Publishing Switzerland 2015.

关键词： Machine design

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An experimental characterization of human torso motion

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Frontiers of Mechanical Engineering 2015年第4期10卷 311-325页

作者： CAFOLLA CECCARELLI I-Ming CHEN LARM Laboratory of Robotics and Mechatronics DICEM Universityof Cassino and South Latium Cassino Italy School of Mechanical and Aerospace Engineering NanyangTechnological University Singapore

The torso plays an important role in the human-like operation of humanoids. In this paper, a method is proposed to analyze the behavior of the human torso by using inertial and magnetic sensing tools. Experiments are conducted to characterize the motion performance of the human torso during daily routine operations. Furthermore, the forces acting on the human body during these operations are evaluated to design and validate the performance of a humanoid robot.

关键词： experimental biomechanics human torso,analysis inertial sensor characterization

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Analysis and Comparison of Motion Capture Systems for Human Walking

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Experimental Techniques 2015年

作者： Gómez, M.J. Castejón, C. García-Prada, J.C. Carbone, G. Ceccarelli, M. MAQLAB Group Departamento de Ingeniería Mecánica Universidad Carlos III de Madrid Madrid Spain LARM: Laboratory of Robotics and Mechatronics DICeM University of Cassino and South Latium Cassino Italy

This paper compares two novel motion capture systems using several biomechanical measurements during walking operations under various conditions. The first one is CATRASYS ("Cassino tracking system") that was initially used as motion capture system applied to robotics since 1994 at the Cassino University. The second one is the commercial Kinect™ system, which consists of a depth sensor and specific software, and can detect and track human forms. This paper studies problems and experiences in using both measuring systems through a comparison of results obtained from their use. It also enables characterization of walking operations by means of a model based on the paths of the ankle and knee points. © 2015, Society for Experimental Mechanics.

关键词： Motion analysis

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A structural synthesis of a new leg mechanism 2

A structural synthesis of a new leg mechanism

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2nd Conference on Mechanisms, Transmissions and Applications, MeTrApp 2013

作者： Dugaesescu, I. Ceccarelli, M. Comanescu, A. Department of Machines and Mechanisms Theory Politehnica University of Bucharest Bucharest Romania LARM: Laboratory of Robotics and Mechatronics DICEM University of Cassino and South Latium Cassino Italy

ISBN: (纸本)9789400774841

This paper presents a procedure for the structural synthesis of a new planar leg mechanism. Several new kinematic schemes of a planar leg mechanism have been created by composing Evans mechanism and the pantograph mechanism. In order to identify a new leg mechanism for walking robots with low-cost easy-operation features a procedure of the structural analysis has been also introduced and applied. © Springer International Publishing Switzerland 2014.

关键词： Structural analysis

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