Laboratory Of Robotics And Mechatronics Research Articles

An overview on Robotic Applications for Cultural Heritage and Built Cultural Heritage

Focus is an overview on Robotics application for Cultural heritage and Built Cultural Heritage (a term that includes all the Architectural, Archaeological, and generally constructed artifacts). In the field of analysis and restoration of Cultural Heritage and Built Cultural Heritage it is interesting to have accurate and efficient operating methodologies. Indeed, robots and robotic systems can be designed and used for these applications. The join between DART (Laboratory of Documentation, Analysis, Survey of Architecture and Territory), LARM (Laboratory of Robotics and Mechatronics) of Cassino University and the LAREA (LAboratorio di Rilievo E Architettura) of Tor Vergata University, it was an example in sharing different knowledges and competences and in developing innovative robotic applications, which are able to operate in Cultural Heritage and Built Cultural Heritage.

Experimental characterization of a binary actuated parallel manipulator

This paper describes the BAPAMAN (Binary Actuated Parallel MANipulator) series of parallel manipulators that has been conceived at Laboratory of Robotics and Mechatronics (LARM). Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy (SMA) actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.

LARM PKM solutions for torso design in humanoid robots

Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.

Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

In this paper, operation analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOF) biped robot. The proposed leg mechanism is composed of a Chebyshev four-bar linkage and a pantograph mechanism. In contrast to general fully actuated anthropomorphic leg mechanisms, the proposed leg mechanism has peculiar features like compactness, low-cost, and easy-operation. Kinematic equations of the proposed leg mechanism are formulated for a computer oriented simulation. Simulation results show the operation performance of the proposed leg mechanism with suitable characteristics. A parametric study has been carried out to evaluate the operation performance as function of design parameters. A prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM (Laboratory of Robotics and Mechatronics). Experimental test shows practical feasible walking ability of the prototype, as well as drawbacks are discussed for the mechanical design.

Analysis and optimal design of an underactuated finger mechanism for LARM hand

This paper aims to present general design considerations and optimality criteria for underactuated mechanisms in finger designs. Design issues related to grasping task of robotic fingers are discussed. Performance characteristics are outlined as referring to several aspects of finger mechanisms. Optimality criteria of the finger performances are formulated after careful analysis. A general design algorithm is summarized and formulated as a suitable multi-objective optimization problem. A numerical case of an underactuated robot finger design for Laboratory of Robotics and Mechatronics (LARM) hand is illustrated with the aim to show the practical feasibility of the proposed concepts and computations.

Design issues for human-machine platform interface in cable-based parallel manipulators for physiotherapy applications

We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy applications. From an engineering perspective, we discuss the design constraints related to acceptance by patients and physiotherapist users. To date, most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient interaction. Some specific examples are illustrated from the authors’ experience with prototypes available at Laboratory of Robotics and Mechatronics (LARM), Italy.

An application of CaTraSys, a cable-based parallel measuring system for an experimental characterization of human walking

SUMMARYIn this paper, an application is presented of a cable-based parallel manipulator as measuring system for an experimental identification of human walking characteristics. Experimental results have been obtained by means of a new version of CaTraSys (Cassino Tracking System), which is a measuring system that has been designed and built at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. The new version of the CaTraSys system has been used to determine the trajectory of the human limb extremity during walking operation and furthermore the system is able to measure forces that are exerted by a limb. Experimental determination of articulation mobility is also presented with numerical and experimental results.

A Numerical Simulation for Design and Operation of an Underactuated Finger Mechanism for LARM Hand

A simulation procedure for an underactuated finger mechanism is proposed for design purposes as based on the kinematics and statics analysis of mechanism operation. A reachable space is proposed and simulated to describe the range and capability to adaptively grasp objects with various shapes and sizes. A numerical example is reported as a result that has been simulated through a specific code with MATLAB program. Results are discussed for a proper design of a new finger mechanism for the LARM (Laboratory of Robotics and Mechatronics) Hand. Results show that the proposed design of a new underactuated finger mechanism can provide human-like grasping operation, and it can be embedded within the finger body with a human-sized mechanical design during the whole motion of grasp operation.

Design Considerations for an Underactuated Robotic Finger Mechanism

A design approach is presented in this paper for underactuation in robotic finger mechanisms. The characters of underactuated finger mechanisms are introduced as based on linkage and spring systems,The feature of self-adaptive enveloping grasp by underactuated finger mechanisms is discussed with feasible in grasping unknown objects. The design problem of robotic fingers is analyzed by looking at many aspects for an optimal functionality. Design problems and requirements for underactuated mechanisms are formulated as related to human-like robotic fingers. In particular,characteristics of finger mechanisms are analyzed and optimality criteria are summarized with the aim to formulate a general design algorithm. A general multi-objective optimization design approach is applied as based on a suitable optimization problem by using suitable expressions of optimality criteria. An example is illustrated as an improvement of finger mechanism in Laboratory of Robotics and Mechatronics (LARM) Hand. Results of design outputs and grasp simulations are reported with the aim to show the practical feasibility of the proposed concepts and computations.

A Methodology for the Design of Robotic Hands with Multiple Fingers

This paper presents a methodology that has been applied for a design process of anthropomorphic hands with multiple fingers. Biomechanical characteristics of human hand have been analysed so that ergonomic and anthropometric aspects have been used as fundamental references for obtaining grasping mechanisms. A kinematic analysis has been proposed to define the requirements for designing grasping functions. Selection of materials and actuators has been discussed too. This topic has been based on previous experiences with prototypes that have been developed at the Laboratory of Robotics and Mechatronics (LARM) of the University of Cassino. An example of the application of the proposed method has been presented for the design of a first prototype of LARM Hand.

Operation Strategy for a Low-Cost Easy-Operation Cassino Hexapod

This paper presents operation strategies for a hexapod walking machine that has been designed and built at the Laboratory of Robotics and Mechatronics (LARM) at the University of Cassino. Special care has been addressed in proposing and describing a suitable mechanical design and architecture that can be easily operated by a PLC with on–off logic. Experimental tests are reported in order to show feasibility and operational capability of the proposed design.

An Experimental Validation of Three Circular-Arc Cams with Offset Followers#

At the Laboratory of Robotics and Mechatronics (LARM) in Cassino a test-bed for three circular-arc cams has been designed and built with the aim to investigate and validate cam profiles. Experimental tests have been carried out on three circular-arc cams, and the results are reported in this paper as a function of the offset from 0 mm to 5 mm. Reference values are considered as numerical results of the acceleration of the follower that are obtained from simulation by using slider-crank equivalent mechanisms. Experimental and numerical results are compared in order to illustrate the practical engineering feasibility of the proposed analysis procedures for cams with circular-arc profiles.

Numerical and experimental analyses of radial cams with circular-arc profiles

Cam profiles with circular arcs can be useful for low-cost transmissions and for applications in micromachines. They are usually designed by means of graphical techniques. Recently, at Laboratory of Robotics and Mechatronics (LARM) in Cassino, a research line addressed the problems of modern design and characterization of cams with circular-arc profiles by looking at computer-oriented formulations and by investigating experimentally the operation characteristics. In this article, we have given an overview of the results achieved for radial cams and also attempted to extend to a general case that is useful for studying and validating any planar cam profile. The approach is algebraic, because it is based on the geometry of the mechanical design of circular-arc profiles. The experimental analysis has been conceived for a low-cost easy-operation performance of the circular-arc profiles, using a suitable test-bed that has been designed at LARM in Cassino. The results of the experimental tests are useful to validate both the numerical design procedure and the designed cam profiles. Examples are reported to illustrate the practical engineering feasibility of the proposed analysis procedures for radial cams with circular-arc profiles.

A Serial-parallel robotic architecture for surgical tasks

In this paper the concept of a serial-parallel macro-milli manipulator is presented for medical applications by investigating the feasibility of combining two different robotic structures into one system. The combination of the two structures can be used as a redundant system in which stiffness, singularity and accuracy can be optimized as related to workspace demands and restrictions that are required for a priori selected medical applications. A case study has been experienced at LARM (Laboratory of Robotics and Mechatronics) at the University of Cassino through a new system composed of a commercial Adept COBRA and CaPaMan2bis (Cassino Parallel Manipulator 2bis). The performance of this system is compared with a previous serial-parallel macro-milli robotic system also developed at LARM in Cassino. Experimental tests have been carried out in order to characterize the proposed systems.

EP-WAR3 biped robot for climbing and descending stairs

A biped walking robot, named EP-WAR3 (Electro-Pneumatic-Walking-Robot), has been designed, built and tested at LARM (Laboratory of Robotics and Mechatronics) in Cassino. EP-WAR3 is provided with a suitable binary pneumatic actuation in order to be controlled through a common PLC (Programmable-Logic-Controller) as an event-based system in an on/off environment. The walking stability of the biped robot is obtained by using suction-cups, which are installed on the underside of each foot. EP-WAR3 is able to walk along a straight line with two different step sizes, turn right and left, and to climb and to descend stairs. A suitable motion analysis and programming technique of the PLC controller is proposed in order to obtain suitable walking capabilities and flexibility of the robot.

Robotic teachers' assistants - Low cost robots for research and teaching activities

In this article, an overview of low-cost robots, discussing basic characteristics, applications, and motivation for future success, is presented. The importance of low-cost robots can be recognized by the fact that they can be available everywhere at different levels of cost and complexity. Therefore, the aim of this article is to suggest the use of low-cost robots both for teaching and investigation to any teacher or researcher in any institution with the possibility to achieve significant results. Particular attention has been addressed to research and teaching activities in university institutions with the aim to stress the fundamental role of engineers' formation in robotics by using low-cost robots with novel solutions. Examples of a successful activity using low-cost robots have been illustrated as those developed at the Laboratory of Robotics and Mechatronics (LARM), Cassino, Italy.

Operation Strategy for a Low‐Cost Easy‐Operation Cassino Hexapod

This paper presents operation strategies for a hexapod walking machine that has been designed and built at the Laboratory of Robotics and Mechatronics (LARM) at the University of Cassino. Special care has been addressed in proposing and describing a suitable mechanical design and architecture that can be easily operated by a PLC with on–off logic. Experimental tests are reported in order to show feasibility and operational capability of the proposed design.