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Design Considerations for Underactuated Grasp with a one D.O.F. Anthropomorphic Finger Mechanism

Design Considerations for Underactuated Grasp with a one D.O...

引用

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Marco Ceccarelli Cristina Tavolieri Zhen Lu LARM Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino Italy Beijing Aeronautics and Astronautics University Beijing China

In this paper we have approached the problem for improving an anthropomorphic finger mechanism for adapting its configuration to the shape of a grasped object, even with more suitable contacts. Solutions with underactuated mechanisms and flexible mechanisms are considered by looking at design problems and feasible mechanical designs. Previous experiences and expertise from Cassino group and Beijing BUAA group have been integrated in a unique frame for design purposes of a new low-cost easy-operation finger mechanism with object-adaptability characteristics

关键词： Anthropomorphism Fingers Grasping Actuators Laboratories Shape Service robots Medical robotics Rehabilitation robotics Prototypes

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Mechanism Design:what is new in what is old and what is old in what is new

Mechanism Design:what is new in what is old and what is old ...

引用

第十五届中国机构与机器科学国际学术会议

作者： Marco Ceccarelli LARM:Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via G.Di Biasio 43 03043 Cassino Italy

This paper is a short survey illustrating historical insights of developments in Mechanism Design with an eye to topics of current and future interest. Main subjects are discussed to identify historical backgrounds and to motivate interest in research, practice, and teaching activity for developing new trends in Mechanism Design in agreement with needs and requirements of the evolving technology.

关键词： Mechanism Design:what is new in what is old and what is old in what is new

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An application of a 3-DOF parallel manipulator for earthquake simulations

An application of a 3-DOF parallel manipulator for earthquak...

引用

22nd International Symposium on Automation and robotics in Construction, ISARC 2005

作者： Ceccarelli, Marco Ottaviano, Erika Castelli, Gianni LARM: Laboratory of Robotics and Mechatronics DiMSAT University of Cassino 03043 Cassino Fr Italy

In this paper a novel application is presented for a parallel manipulator to be used as an earthquake motion simulator. A formulation and experimental results are presented for a 3-DOF CaPaMan (Cassino Parallel Manipulator) prototype to simulate point seismograms and 3D earthquake motion. The rigid body acceleration (linear acceleration, angular velocity and acceleration) has been experimentally evaluated to simulate real 3D earthquakes by using the parallel manipulator.

关键词： Earthquakes

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Application of robots for inspection and restoration of historical sites

Application of robots for inspection and restoration of hist...

引用

22nd International Symposium on Automation and robotics in Construction, ISARC 2005

作者： Cigola, M. Pelliccio, A. Salotto, O. Carbone, G. Ottaviano, E. Ceccarelli, M. DART Laboratory of Documentation Analysis Italy Laboratory of Robotics and Mechatronics LARM Italy DiMSAT University of Cassino Via Di Biasio 43 03043 Cassino FR Italy

In this paper a study of feasibility is presented for using robots or robotic systems in novel applications concerning with activities related to analysis and restoration of historical sites of architectonic interest. The work has been developed within a collaboration between DART and LARM Laboratories, of University of Cassino. Design requirements and peculiarities of operation of robotic systems are analyzed for the application in restoration of historical sites. The proposed application is completely novel and of great interest.

关键词： Restoration

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A Low-Cost Easy Operation 4-Cable Driven Parallel Manipulator

A Low-Cost Easy Operation 4-Cable Driven Parallel Manipulato...

引用

IEEE International Conference on robotics and Automation (ICRA)

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

In this paper the design and kinematic performances are presented for a low-cost parallel manipulator with 4 driven cables. It has been conceived for an easy programming of its operation by properly formulating the Kinematics of the parallel architecture that uses cables. A prototype has been built and tests have experienced the feasibility of the system design and its operation.

关键词： Cables Manipulators Prototypes Kinematics Laboratories Parallel robots mechatronics Robot programming System testing DC motors

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Development of a humanoid robot having 2-DQF waist and 2-DOF trunk

Development of a humanoid robot having 2-DQF waist and 2-DOF...

引用

2005 5th IEEE-RAS International Conference on Humanoid Robots

作者： Orner, Aiman Musa M. Ogura, Yu Kondo, Hideki Morishima, Akitoshi Carbone, Giuseppe Ceccarelli, Marco Lim, Hun-Ok Takanishi, Atsuo Graduate School of Science and Engineering Waseda University Tokyo Japan Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino Italy Department of Mechanical Engineering Kanagawa University Yokohama Japan Department of Mechanical Engineering Humanoid Robotics Institute Waseda University Tokyo Japan

ISBN: (纸本)0780393201

A new humanoid robot capable of verious motion is proposed in this paper, which has a 2 DOF wasit and 2 DOF trunk. A new upper body mechanism is mounted on a leg machine, WABIAN2/LL, and a full scale humanoid robot, WABIAN-2, is constructed in this study. Its trunk is designed to bend forwards, backwards and sideways and rotate in combination with a 2-DOF waist. Also, the upper body is designed in way that makes it able to use a walk-assist machine. Basic walking experiments with and without a walk-assist machine are conducted, and the effectiveness of the mechanism of WABIAN-2 is confirmed. ©2005 IEEE.

关键词： Intelligent robots

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Development of a humanoid robot having 2-DOF waist and 2-DOF trunk

Development of a humanoid robot having 2-DOF waist and 2-DOF...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： A.M.M. Omer Y. Ogura H. Kondo A. Morishima G. Carbone M. Ceccarelli Hun-ok Lim A. Takanishi Graduate School of Science and Engineering Waseda University Tokyo Japan Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino Italy Kanagawa University Yokohama Japan Department of Mechanical Engineering Humanoid Robotics Institute Waseda University Tokyo Japan

A new humanoid robot capable of various motion is proposed in this paper, which has a 2 DOF waist and 2 DOF trunk. A new upper body mechanism is mounted on a leg machine, WABIAN2/LL, and a full scale humanoid robot, WABIAN-2, is constructed in this study. Its trunk is designed to bend forwards, backwards and sideways and rotate in combination with a 2-DOF waist. Also, the upper body is designed in way that makes it able to use a walk-assist machine. Basic walking experiments with and without a walk-assist machine are conducted, and the effectiveness of the mechanism of WABIAN-2 is confirmed

关键词： Humanoid robots Legged locomotion Humans Instruments Mechanical engineering Service robots Leg Medical treatment Torque measurement Laboratories

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A Dynamics Simulation of a 3-DOF Parallel Manipulator

A Dynamics Simulation of a 3-DOF Parallel Manipulator

引用

第十一届IFTOMM世界大会

作者： Mario Acevedo Gabriel Aguirre Giuseppe Carbone Erika Ottaviano Multibody Systems and Mechatronics Laboratory Engineering School Universidad PanamericanaMexico City 03920Mexico Multibody Systems and Mechatronics Laboratory Engineering School Universidad PanamericanaMexico City 03920Mexico Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino 03043Italy Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino 03043Italy

＜正＞In this paper a new version of the Cassino parallel manipulator （CaPaMan 2） is presented. A model describing the multibody system through mixed coordinates has been created, and a simulation program has been developed to perform both kinematic and dynamic analysis of the manipulator. This program uses an entirely symbolic formulation of the equations of motion for the mechanism.

关键词： Multibody systems Parallel manipulators Numerical simulation

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Numerical and Experimental Performance Analysis of Cam Profile in Two-Circular-Arc Cams

Numerical and Experimental Performance Analysis of Cam Profi...

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第十一届IFTOMM世界大会

作者： Chiara Lanni Annalisa Bianchi Giuseppe Carbone Marco Ceccarelli Laboratory of Robotics and Mechatronics DiMSAT-University of Cassino Via G. Di Biasio 43 03043 Cassino (Fr) Italy Laboratory of Robotics and Mechatronics DiMSAT-University of Cassino Via G. Di Biasio 43 03043 Cassino (Fr) Italy Laboratory of Robotics and Mechatronics DiMSAT-University of Cassino Via G. Di Biasio 43 03043 Cassino (Fr) Italy Laboratory of Robotics and Mechatronics DiMSAT-University of Cassino Via G. Di Biasio 43 03043 Cassino (Fr) Italy

In this paper the dynamic effects of curvature change in the cam profiles are investigated by formulating a suitable model for a numerical evaluation. The study has been focused on two circular-arc cams and a specific model has been proposed and numerically solved. Experimental test have been carried out by using a test-bed that has been designed and built at LARM.

关键词： Transmissions, Cam mechanism, Analysis, Experimental mechanics

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Experimental Stiffness Evaluation of a Serial-Parallel Macro-MiUi Manipulator for Medical Applications

Experimental Stiffness Evaluation of a Serial-Parallel Macro...

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第十一届IFTOMM世界大会

作者： Giuseppe Carbone Erika Ottaviano Marco Ceccarelli Laboratory of Robotics and Mechatronics DiMSAT-University of Cassino Via G. Di Biasio 43 03043 Cassino (Fr) Italy Laboratory of Robotics and Mechatronics DiMSAT-University of Cassino Via G. Di Biasio 43 03043 Cassino (Fr) Italy Laboratory of Robotics and Mechatronics DiMSAT-University of Cassino Via G. Di Biasio 43 03043 Cassino (Fr) Italy

In this paper the feasibility of a serial-parallel macromilli robotic system for medical applications is investigated. A first stiffness analysis is proposed for a robotic architecture composed of a commercial robot Puma 562, with 6-DOF, and CaPaMan2 (Cassino Parallel Manipulator) with 3-DOF. Preliminary experimental tests have been carried out with the aim of showing the engineering feasibility of the proposed macro-milli serial-parallel robotic manipulator for surgical applications.

关键词： Stiffness evaluation, Experimental robotics, Serial-parallel manipulators

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