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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Ceccarelli Marco Carbone Giuseppe LARM: Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino Frosinone Italy

In this paper we have investigated the possibility of using parallel manipulator architectures for leg design in legged walking robots as inspired from the leg human muscular system. Proposed kinematic designs are presented with their basic features and performance with the aim to identify a solution with cost-oriented user-friendly characteristics as a leg module for biped robots but also for multi-legged walking machines.

关键词： Leg Legged locomotion Humans Humanoid robots Intelligent robots Parallel robots Kinematics Parallel architectures Muscles mechatronics

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Design issues and application of cable-based parallel manipulators for rehabilitation therapy

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Applied Bionics and Biomechanics 2008年第2期5卷 65-75页

作者： Ottaviano, E. LARM: Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino Italy

In this study, cable-based manipulators are proposed for application in rehabilitation therapies. Cable-based manipulators show good features that are very useful when the system has to interact with humans. In particular, they can be used to aid motion or as monitoring/training systems in rehabilitation therapies. Modelling and simulation of both active and passive cable-based parallel manipulators are presented for an application to help older people, patients or disabled people in the sit-to-stand transfer and as a monitoring/training system. Experimental results are presented by using built prototypes.

关键词： Cables

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Optimality criteria for the design of manipulators

Optimality criteria for the design of manipulators

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2008 IEEE International Conference on robotics, Automation and mechatronics, RAM 2008

作者： Carbone, G. Ottaviano, E. Ceccarelli, M. LARM: Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino Italy

In this paper design criteria for manipulators are discussed and formulated for a multi-objective optimization problem. Optimality aspects are identified as suitable for numerical computations in a kinematic design pr... 详细信息

ISBN: (纸本)9781424416769

关键词： Manipulators

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Design considerations for moving and rotating fingers in robotic hand

Design considerations for moving and rotating fingers in rob...

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IEEE International Conference on Automation and Logistics

作者： Minzhou Luo Giuseppe Carbone Marco Ceccarelli Center for Biomimetic Sensing and Control Research Institute of Intelligent Machine Chinese Academy and Sciences Hefei China LARM Laboratory of Robotics and Mechatronics DiMSAT-University of Cassino Cassino Italy

ISBN: (纸本)9781424425020

Many robotic hands have few configurations to achieve versatile grasp modes or the proper grasp force wrench, which is necessary for stable grasp. In this paper, design considerations are reported for improving the grasping capabilities of a low-cost and easy-operation three-finger robotic hand. A special planetary gear mechanism has been designed to adjust the position and orientation of two fingers. This novel solution significantly improves the flexibility of a robotic hand in terms of sizes and shapes of objects which can be grasped. Furthermore, both pinching and enveloping grasp configurations can be achieved similarly to human hands. Simulations are performed in Adams environment to show effectiveness of the proposed mechanism design in terms of both kinematic and dynamic performance.

关键词： Fingers Gears Robots Force Humans Shape Robot sensing systems

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Walking Programming for a Low-Cost Easy-Operation Cassino Hexapod 13

Walking Programming for a Low-Cost Easy-Operation Cassino He...

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13th National Conference on Machines and Mechanisms, NaCoMM 2007

作者： Shrot, Aviral Carbone, Giuseppe Ceccarelli, Marco Department of Mechanical Engineering Indian Institute of Technology Madras Chennai India Laboratory of Robotics and Mechatronics DiMSAT – University of Cassino Fr Cassino Italy

This paper presents the operation strategy for a hexapod walking machine that has been designed and built at LARM in Cassino with low-cost easy-operation features. Special care has been addressed in proposing an architecture that can be easily operated by a PLC with on-off logic. The novelty in the system can be recognized in successfully using a low-level PLC through suitable walking analysis and programming. Experimental tests are reported in order to show feasibility and operational capability of the proposed design. © 13th National Conference on Machines and Mechanisms, NaCoMM 2007.

关键词： Costs

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Workspace analysis of RRP manipulators 1

Workspace analysis of RRP manipulators

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1st European Conference on Mechanism Science, EuCoMeS 2006

作者： Rodriguez, Nestor Eduardo Nava Ottaviano, Erika Ceccarelli, Marco LARM: Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Italy

ISBN: (纸本)3901249850

In this paper a workspace analysis has been presented for serial RRP manipulators. The cross-section boundary curve of this kind of manipulators can be described by a 8-th order polynomial of radial and axial reaches in Cartesian Space. Special cases are studied in order to illustrate different designs of RRP manipulators and the effect of some design parameters on the position workspace. An analysis of an industrial RRP manipulator is presented as a case of study.

关键词： Industrial manipulators

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Stiffness Performance of Multibody Robotic Systems

Stiffness Performance of Multibody Robotic Systems

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IEEE International Conference on Automation, Quality and Testing, robotics, AQTR

作者： Giuseppe Carbone Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino Italy

Stiffness can be considered of primary importance in order to guarantee the successful use of any robotic system for a given task. Therefore, this paper proposes procedures for carrying out both numerical and experimental estimations of stiffness performance for multibody robotic systems. The numerical procedure is based on models with lumped parameters for deriving the Cartesian stiffness matrix. The experimental procedure for the evaluation stiffness performance is based on a new measuring system named as Milli-CATRASYS (Milli Cassino tracking system) and on a trilateration technique

关键词： Manipulators Finite element methods Springs Legged locomotion Parallel robots Kinematics Testing Transmission line matrix methods Performance analysis Leg

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Antropomorphic Design and Operation of a New Low-Cost Humanoid Robot

Antropomorphic Design and Operation of a New Low-Cost Humano...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： N.E.N. Rodriguez G. Carbone M. Ceccarelli LARM: Laboratory of Robotics and Mechatronics DiMSAT-University of Cassino Lazio Italy

This paper illustrates design and simulation results for a new low-cost humanoid robot that has been named as CALUMA (CAssino Low-cost hUMAnoid robot). A 3D-CAD model of CALUMA has been developed in order to check the design feasibility, possible component interferences and kinematic behaviour. A dynamic simulation in ADAMS environment has been carried out for CALUMA walking movements. Preliminary results of dynamic simulation have shown a falling down of CALUMA. Successful simulations of the robot walking movement have been obtained after carrying out some enhancements in the design of CALUMA

关键词： Humanoid robots Legged locomotion Prototypes Kinematics Interference Costs Leg Laboratories mechatronics Humans

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A Performance Analysis of a 4 Cable-Driven Parallel Manipulator

A Performance Analysis of a 4 Cable-Driven Parallel Manipula...

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IEEE Conference on robotics, Automation and mechatronics

作者： Erika Ottaviano Marco Ceccarelli Paolo Pelagalli LARM: Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino Frosinone Italy

In this paper a performance analysis is presented for a low-cost parallel manipulator with 4 driven cables. Kinematics, statics, and a method for monitoring and verifying positive cable tensions are presented. A prototype has been built and tests have carried out to verify the feasibility of the system design and its operation. Experimental tests have been carried out for monitoring the cables' tension for a spatial application of the manipulator

关键词： Performance analysis Manipulators Cables Parallel robots Prototypes Kinematics mechatronics Monitoring System testing Actuators

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CaPaMan2bis as Trunk module in CALUMA (CAssino Low-cost hUMAnoid robot)

CaPaMan2bis as Trunk module in CALUMA (CAssino Low-cost hUMA...

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IEEE Conference on robotics, Automation and mechatronics

作者： Nava Rodriguez Nestor Eduardo Carbone Giuseppe Ceccarelli Marco LARM: Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino Frosinone Italy

In this paper, CaPaMan2bis (Cassino parallel manipulator version 2bis) has been analysed as trunk subsystem in CALUMA (Cassino low-cost humanoid) robot. Dynamic simulations have been developed for an operation of CaPaMan2bis as trunk module of CALUMA has been checked. Specifically, simulations for walking and grasping have been carried out to evaluate CALUMA performance. Simulations have given results that confirm the feasibility of the proposed design. The dynamic simulations have been also used for studying the movement characteristics of CaPaMan2bis parallel manipulator in a humanoid robot structure. Improvements have been illustrated for the trunk sub-system as suggested by simulation results

关键词： Humanoid robots Prototypes Manipulator dynamics Leg Parallel robots Kinematics mechatronics Legged locomotion Humans Joining processes

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