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第四届中日机械技术史及机械设计国际学术会议

作者： Marco Ceccarelli Laboratory of Robotics and Mechatronics DiMSAT-University of Cassino Via Di Biasio 43 03043 Cassino(Fr)Italy

Dear participants: It is an honor for me to address these few words of welcome and wishes for a fruitful conference *** conference is a very important conference forum for discussing the historical developments on asp... 详细信息

关键词： China-Japan International Conference on History of Mechanical Technology

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Numerical and Experimental Analysis of a Pantograph-Leg with a Fully-Rotative Actuating Mechanism

Numerical and Experimental Analysis of a Pantograph-Leg with...

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第十一届IFTOMM世界大会

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

In this paper a numerical and experimental analyses of a pantograph-leg are presented. In particular, a suitable model of the leg has been analyzed and Kinematics and Dynamics have been solved. A parametric study has been also carried out in order to investigate the influence of some basic design parameters on its motion capabilities. A preliminary version of the prototype with suitable sensorization has been built at LARM, laboratory of robotics and mechatronics in Cassino.

关键词： Mechanism analysis Experimental mechanics Walking machines Leg mechanisms

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Evolution of TMM (Theory of Machines and Mechanisms) to MMS (Machine and Mechanism Science):An Illustration Survey

Evolution of TMM (Theory of Machines and Mechanisms) to MMS ...

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第十一届IFTOMM世界大会

作者： Marco Ceccarelli Chairman of the IFToMM Permanent Commission for History of MMS Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 03043 Cassino (Fr) Italy

In this lecture paper the main past works on TMM are reviewed through an illustration survey by giving information on the main technical achievements and even brief notes on the personality of the authors. The historical overview is started from early works at the Ecole Polytechnique in Paris that was established in 1794, which can be considered a fundamental date for modern TMM. Main works in XIX-th century are reviewed to identify the Golden Age of the Theory of Mechanisms. Continuous evolution and success of the field brought during the Industrial Revolution Mechanism Design to be recognized as a fundamental engineering discipline also in the XX-th century. Another important period can be identified in the 1960's when TMM evolved further and finally in 1990's it has been assumed the character of an Engineering Science, named as MMS. The significance of MMS (TMM) in modern Technology is stated also by the teaching of TMM in Mechanical Engineering curricula all around the world. The international community has been identified in 1969 with the foundation of IFToMM (The International Federation of TMM) that has been renamed as IFToMM, the International Federation for the Promotion of MMS in 2000.

关键词： TMM, History of mechanisms, Past people, Past works, History of IFToMM, History of MMS

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Descending stairs with EP-WAR3 biped robot

Descending stairs with EP-WAR3 biped robot

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

作者： G. Figliolini M. Ceccarelli M. Di Gioia DiMSAT LARM Laboratory of Robotics and Mechatronics University of Cassino Frosinone Italy

A third version of the biped robot prototype, named as EP-WAR3 (Electro-Pneumatic WAlking Robot), has been designed, built and tested at LARM (laboratory of robotics and mechatronics) in Cassino. Compared to the performances of the previous versions, EP-WAR3 is also able to descend stairs because of a new actuation system. Moreover, a suitable programming technique of the PLC (Programmable-Logic-Controller) is based on the use of specific subroutines that operate EP-WAR3 to run different walking modes and additionally to descend stairs.

关键词： Legged locomotion Prototypes Leg Robot sensing systems mechatronics Programmable control Laboratories Robot programming Mobile robots Foot

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Design Problems for Parallel Manipulators in Assembling Operations

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IFAC Proceedings Volumes 2003年第23期36卷 13-26页

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

This overview presents parallel manipulators for industrial assembling operations by looking at their fundamental characteristics that are useful for applications and optimum design. Several robots that are already available in the market are described to show the feasibility of parallel manipulators for industrial applications, although much other architecture are under developments even with built prototypes in many research centers. The feasibility of parallel manipulators for industrial applications can be proved also by a suitable design formulation that matches application requirements with design characteristics. Thus, an optimum design procedure is presented as a synthesis of design problems and operation characteristics for parallel manipulators in assembling operations.

关键词： robotics Assembling Parallel Manipulators Performances Design

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Numerical and experimental estimation of stiffness performances for the humanoid robot WABIAN-RV

Numerical and experimental estimation of stiffness performan...

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2003 IEEE/ASME International Conference on Advanced Intelligent mechatronics, AIM 2003

作者： Carbone, G. Lim, Hun-Ok Takanishi, A. Ceccarelli, M. Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 CassinoFr03043 Italy Dept. of System Design Engineering Kanagawa Institute of Technology 1030 Shimoogino AtugiKanagawa243-0292 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan

In this paper, basic models and a formulation are presented for the stiffness analysis of the humanoid robot WABIAN-RV. An evaluation of stiffness performances is carried out by numerically implementing the proposed f... 详细信息

ISBN: (纸本)0780377591

关键词： Anthropomorphic robots

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Stiffness performance estimation for biped locomotor WL-15

Stiffness performance estimation for biped locomotor WL-15

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2003 IEEE/ASME International Conference on Advanced Intelligent mechatronics, AIM 2003

作者： Carbone, G. Sugahara, Y. Lim, H.O. Takanishi, A. Ceccarelli, M. Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 CassinoFr03043 Italy Graduate School of Science and Engineering Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan Kanagawa Institute of Technology Department of System Design Engineering 1030 Shimoogino AtsugiKanagawa243-0292 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan

ISBN: (纸本)0780377591

In this paper a biped locomotor, named as WL-15 (Waseda Leg 15), is analyzed in terms of stiffness characteristics. Basic models and a formulation are proposed in order to deduce the stiffness matrix as a function of the most important design parameters of the WL-15 architecture. First numerical simulations and experimental tests are also carried out for stiffness performance estimation. © 2003 IEEE.

关键词： Anthropomorphic robots

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Stiffness performance estimation for biped locomotor WL-15

Stiffness performance estimation for biped locomotor WL-15

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

作者： G. Carbone Y. Sugahara H.O. Lim A. Takanishi M. Ceccarelli Humanoid Robotics Institute – Waseda University Tokyo Japan Laboratory of Robotics and Mechatronics DiMSAT – University of Cassino Cassino Fr Italy Graduate School of Science and Engineering Waseda University Tokyo Japan Department of System Design Engineering Kanagawa Institute of Technology Atsugi Kanagawa Japan

关键词： Legged locomotion Humans Leg Testing Humanoid robots Design engineering Wheels Payloads Algorithm design and analysis Prototypes

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Stiffness analysis for 6-DOF mouth training parallel robot WY-5

Stiffness analysis for 6-DOF mouth training parallel robot W...

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

作者： G. Carbone H. Takanobu M. Ceccarelli A. Takanishi K. Ohtsuki M. Ohnishi A. Okino Humanoid Robotics Institute Waseda University Shinjuku-ku Tokyo Japan Laboratory of Robotics and Mechatronics DiMSAT - University of Cassino Cassino (Fr) Italy Department of Mechanical Systems Engineering Kogakuin University Shinjuku-ku Tokyo Japan Yamanashi University Tamaho-cho Nakakoma-gun Yamanashi Japan Okino Industries Ltd. Komae-shi Tokyo Japan

In this paper a mouth opening and closing training robot, named WY-5 (Waseda Yamanashi version 5), is analyzed in terms of stiffness characteristics. The basic models and formulation are proposed in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WY-5 architecture. A numerical simulation is also presented to discuss main features of the system.

关键词： Mouth Parallel robots Joints Humanoid robots Service robots Industrial training Numerical simulation Pain Medical treatment Algorithm design and analysis

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A Study of Feasibility for a Novel Parallel-serial Manipulator

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Journal of robotics and mechatronics 2002年第3期14卷 304-312页

作者： Ceccarelli, Marco Ottaviano, Erika Carbone, Giuseppe Laboratory of Robotics and Mechatronics DiMSAT - University of Cassino Fr Cassino Italy

A combination of serial and parallel chain manipulators is proposed for a design of a novel hybrid robot. In this paper a study of feasibility is presented in terms of basic performances of workspace, static action, a... 详细信息

关键词： Machine design

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