Article
Engineering, Mechanical
Ruiqin Wang, Xi Kang, Jian S. Dai
Summary: This paper introduces a novel reconfigurable spherical joint and two metamorphic mechanisms can be obtained by inserting the joint, realizing reconfiguration through phase change without disassembly and reassembly. The new joint bridges the gap between spatial single-loop mechanisms and structures.
MECHANISM AND MACHINE THEORY
(2021)
Article
Computer Science, Interdisciplinary Applications
Yanqin Zhao, Yan Jin, Harry Anderson, Colm Higgins
Summary: A new lockable spherical joint is proposed in this paper, which can be used as revolute, universal, or spherical joint. Three locking methods are introduced for constructing the lockable spherical joint. Based on this, a new reconfigurable parallel mechanism (RPM) with a large positioning workspace is presented, allowing translation and rotation in different operative modes. The RPM has potential applications in machine tools, fixtures, and manipulators. Two modular reconfigurable manufacturing systems for aircraft assembly production are designed based on the new RPM, along with a reconfiguration strategy.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2023)
Article
Engineering, Aerospace
Xiong Zhang, Xi Kang, Bing Li
Summary: Single-DOF morphing wings have the advantages of light-weight and multiple morphing shapes. This paper introduces a single-DOF morphing wing designed based on a reconfigurable mechanism, and proposes a light-weight compliant locking mechanism (CLM) based on flexure hinges. The feasibility of the proposed CLM for morphing wings is confirmed through mathematical modeling and experiments.
AEROSPACE SCIENCE AND TECHNOLOGY
(2023)
Article
Engineering, Multidisciplinary
Jianfeng Li, Qiulin Fang, Mingjie Dong, Xi Rong, Liwei Jiang, Ran Jiao
Summary: This paper introduces a new reconfigurable muscle strength training robot that imitates physicians to conduct muscle strength training for patients. The robot has six training modes for 17 joint movements, allowing for multi-mode training.
JOURNAL OF BIONIC ENGINEERING
(2023)
Article
Multidisciplinary Sciences
Peter Zheng, Feng Xiao, Pham Huy Nguyen, Andre Farinha, Mirko Kovac
Summary: Inspired by gliding mammals and tree-dwelling animals, a quadrotor robot with the ability to transition between flight and perch has been designed. By mimicking the morphological changes of these animals, the robot achieves energy-efficient perching. This design solution meets the need for small perching robots in cluttered environments.
SCIENTIFIC REPORTS
(2023)
Article
Engineering, Mechanical
Xuyu Hu, Hongzhao Liu
Summary: This paper presents a new method for synthesizing reconfigurable parallel spherical joints by utilizing the singularity of parallel mechanisms. This method enables rotational motions in different dimensions and exhibits decoupling properties. A new design for a multi-mode reconfigurable parallel mechanism is also proposed.
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
(2022)
Article
Engineering, Mechanical
Pu Jia, Duanling Li, Yuankai Zhang, Chao Yang
Summary: In this paper, a spatial metamorphic four-link mechanism (SMM) based on the metamorphic universal joint is proposed. Different types of SMMs are constructed by adjusting the axis position of the universal joint. A reconfigurable hybrid limb is constructed based on the motion characteristics of each phase of SMM, and a new type of reconfigurable parallel mechanism (RPM) is designed. The results show that the performance of the RPM can be changed with different degrees of freedom.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2022)
Article
Engineering, Mechanical
Zhao Tang, Kun Wang, Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Summary: This article introduces a novel multi-mimicry quadruped robot called Origaker. It is equipped with a metamorphic mechanism that allows it to transform between different working modes without disassembly and reassembly. The authors propose various gaits and movement strategies, and experimental tests show that the robot can crawl over different surfaces and overcome challenging obstacles.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2022)
Article
Engineering, Multidisciplinary
Shuo Zhang, Jian-tao Yao, Ying-bin Wang, Zi-sheng Liu, Yun-dou Xu, Yong-sheng Zhao
Summary: An adaptive wheel-legged shape reconfigurable mobile robot, based on a scissor-like mechanism, is proposed for obstacle detecting and surmounting on complex terrain. The robot can dynamically adjust its shape according to the environment, transitioning between wheel and leg shapes. It has stability comparable to a traditional wheel mechanism and obstacle surmounting performance of a leg mechanism, making it suitable for field reconnaissance and exploration missions.
DEFENCE TECHNOLOGY
(2022)
Article
Engineering, Marine
Chunying Li, Shuxiang Guo
Summary: A new attitude regulator based on the counterweight mechanism is proposed for perceiving and regulating the attitude of a Spherical Underwater Robot (SUR). The regulator shows practical value and presents a challenging task.
Article
Mechanics
M. Riabtsev, V. Petuya, M. Urizar, E. Macho
Summary: This article presents a new design of a 2-DOF active lockable joint that can be used in parallel reconfigurable manipulators and haptic devices. The article discusses the kinematics, performance analysis, finite element simulation, and prototype testing of the joint.
MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES
(2022)
Article
Engineering, Mechanical
Yinjun Zhao, Guangbo Hao, Luguang Chai, Yingzhong Tian, Fengfeng Xi
Summary: This paper presents a novel piezoelectric actuated lockable prismatic joint, which is widely used in robotic systems and adaptive structures for energy management and topology reconfiguration. It addresses the challenge of designing a joint with desired properties such as high locking load, infinite locking positions, short switching time, energy-efficient control, and a compact and lightweight structure.
MECHANISM AND MACHINE THEORY
(2022)
Article
Mechanics
Xiulong Chen, Yonghao Jia
Summary: This paper investigates the dynamic modeling and response of spatial parallel robots considering lubricated spherical joints. By proposing a dynamic modeling method and improving the lubrication force model, the performance of the robot is analyzed and simulated.
EUROPEAN JOURNAL OF MECHANICS A-SOLIDS
(2022)
Article
Robotics
Florian Richter, Peter V. Gavrilov, Hoi Man Lam, Amir Degani, Michael C. Yip
Summary: This article presents a novel approach combining snakelike robots with an Archimedean screw locomotion mechanism to provide multiple mobility strategies for navigating through various environments. The robotic system called ARCSnake demonstrates controllable, multidomain navigation capabilities through tests in different terrains, proving its ability to traverse extreme terrains successfully.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Chemistry, Multidisciplinary
Terence Essomba, Juan Sandoval, Med Amine Laribi, Chieh-Tsai Wu, Cyril Breque, Said Zeghloul, Jean-pierre Richer
Summary: This paper presents a robotic manipulator for craniotomy based on SPM architecture, which is capable of improving its behavior and minimizing motor torques through spinning motion, as shown in experimental analyses.
APPLIED SCIENCES-BASEL
(2021)
Article
Chemistry, Multidisciplinary
Federico Neri, Matteo Forlini, Cecilia Scoccia, Giacomo Palmieri, Massimo Callegari
Summary: This paper presents the implementation of an obstacle avoidance algorithm on the UR5e collaborative robot, which allows real-time modification of the manipulator's trajectory to avoid obstacles. Test cases with fixed or dynamic obstacles were simulated and experimented on. The hardware/software architecture of the robotic system is described, where an external controller communicates with the robot controller through TCP/IP protocol, and Python/Matlab software executes algorithms and data processing.
APPLIED SCIENCES-BASEL
(2023)
Article
Engineering, Electrical & Electronic
Albin Bajrami, Matteo Claudio Palpacelli
Summary: The selection of the electric motor for the propulsion system in electric vehicles is crucial for determining vehicle performance. This study proposes a preliminary method for selecting electric motors for land vehicles, emphasizing the importance of smoothing driving cycle data and illustrating the impact of gear ratio on energy consumption. The research contributes to the design of more efficient and high-performance electric vehicles.
Article
Robotics
Luca Carbonari, Matteo-Claudio Palpacelli, Massimo Callegari
Summary: This paper proposes a closed-form solution for the inverse kinematics of a class of 6R robotic arms with six degrees of freedom and non-spherical wrists. The solutions are worked out by a single polynomial, of minimum degree, in terms of one of the positioning parameters chosen for the description of the robot posture. The roots of such a polynomial are then back-substituted to determine all the remaining unknowns. A numerical example is finally shown to verify the validity of the proposed implementation for a commercial collaborative robot.
Article
Chemistry, Analytical
Giorgia Chiriatti, Luca Carbonari, Maria Gabriella Ceravolo, Elisa Andrenelli, Marzia Millevolte, Giacomo Palmieri
Summary: One of the most interesting characteristics of collaborative robots is their ability to be used in close cooperation scenarios. In industry, this facilitates the implementation of human-in-loop workflows. This paper presents a rehabilitation framework for the upper limbs of neurological patients, utilizing a collaborative robot to guide and improve patients' coordination through three-dimensional trajectories. Experimental results from 19 volunteers showed positive feedback, with 52% of subjects willing to return and 44% enjoying the exercise. Patients were able to perform the exercise with a maximum deviation of 16 mm and limited muscular effort (average maximum forces recorded at around 50 N).
Proceedings Paper
Computer Science, Information Systems
Giacomo Palmieri, Cecilia Scoccia, Daniele Costa, Massimo Callegari
Summary: The combination of Virtual Reality (VR) systems and advanced control strategies is a winning approach for improving Human Robot Collaboration (HRC) in industrial applications. This paper describes a VR application used to evaluate a collision avoidance control strategy for a collaborative robot. The virtual model of the robot's kinematics and manually moved virtual obstacle enable real-time updating of the robot's motion to prevent potential collisions.
ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS, RAAD 2022
(2022)
Article
Engineering, Electrical & Electronic
Giorgia Chiriatti, Marianna Ciccarelli, Matteo Forlini, Melania Franchini, Giacomo Palmieri, Alessandra Papetti, Michele Germani
Summary: The demand for automated processes in the manufacturing industry is shifting towards flexible, human-centered systems that combine the advantages of automated and robotic systems with the high-value-added skills of operators and craftsmen. This paper presents a collaborative robotic system for shoe polishing that can reduce manual labor and improve ergonomics for operators, leading to higher product quality.
Article
Engineering, Electrical & Electronic
Massimo Callegari, Luca Carbonari, Daniele Costa, Giacomo Palmieri, Matteo-Claudio Palpacelli, Alessandra Papetti, Cecilia Scoccia
Summary: This paper introduces case studies from the i-Labs laboratory, which aim to analyze the feasibility of human-robot interaction in various application scenarios, focusing on ergonomics of processes, operator safety, and cooperation effectiveness.
Article
Engineering, Electrical & Electronic
Giorgia Chiriatti, Alessandro Bottiglione, Giacomo Palmieri
Summary: This study presents a design optimization of a robotic system for upper limb rehabilitation based on the manipulability ellipsoid method. The positioning of the robot base relative to the patient is determined by comparing the alignment of the manipulability ellipsoids.
Article
Robotics
Daniele Costa, Cecilia Scoccia, Matteo Palpacelli, Massimo Callegari, David Scaradozzi
Summary: This paper presents a novel transmission system that converts the constant angular velocity of a rotary actuator into the pitching-yawing rotation of fish pectoral fins, improving the maneuvering capabilities of underwater robots. The biomimetic thrusters exploit the drag-based momentum transfer mechanism of labriform swimmers to generate the necessary steering torque.
Article
Engineering, Electrical & Electronic
Giorgia Chiriatti, Giacomo Palmieri, Cecilia Scoccia, Matteo Claudio Palpacelli, Massimo Callegari
Summary: This paper presents collision avoidance algorithms for moving obstacles to improve operator safety and robot flexibility. The algorithms use cylindrical safety regions to avoid dynamic obstacles and propose three different modes for collision avoidance control laws.
Article
Engineering, Electrical & Electronic
Giacomo Palmieri, Cecilia Scoccia
Summary: This paper introduces a framework for motion planning and control of redundant manipulators with collision avoidance, combining offline path planning algorithms with online motion control strategies to effectively avoid collisions and smooth trajectories.
