- DIEM Dept. of Mechanical Eng. Group of Robotics and Articular Biomechanics Dir: Prof. V. Parenti Castelli Speaker: Dr. Marco Carricato Collaborations GRAB has collaborations and agreements with : • Universities : • Research Centers: - Duisburg-Essen University (Germany) - CNR-ITIA (Italy) - Guanajuato University (Mexico) - Fraunhofer Institute (Germany) - Laval University (Canada) - INAIL Prosthetic Centre (Italy) - MIT (USA) - INRIA – Sophia Antipolis (France) - Monastir University (Tunisia) - Jozef Stefan Institute (Slovenia) - Oxford University (Great Britain) - Rizzoli Orthopaedic Institute ( Italy) - Paris 6 University (France) -… - Scuola Superiore Sant’Anna (Italy) -… Collaborations GRAB has collaborations and agreements with : • Industry: - DUCATI - LAMBORGHINI - EMMEGI GROUP - DVP - CALZONI - VARVEL - HERA - VARIAN - RAINER -… PARALLEL ROBOTS Analysis of parallel robots: • geometry • kinematics • dynamics Patented of parallel robots Synthesis parallel robots for: for improved performances: • translational motion •simpler control; • orientational motion •better real-time performances; •greater dexterity; •enhanced actuator operation; •limited singularity problems. CABLE ROBOTS Collaboration: INRIA Sophia Antipolis, Équipe COPRIN (Dr: Jean-Pierre Merlet) Service Robotics for Assistance and Rehabilitation : • cost - mechanical simplicity; • high degree of modularity; • adaptability to users needs and environment. Cable-Driven Parallel Robots: • reduced manufacturing and assembling costs; • ample workspace; • mechanical modularity. Activity in Bologna: • Mechanical problems (kinetostatic analysis, stability analysis, etc.) HUMAN-MACHINE PHYSICAL INTERFACES (HMPI) Collaboration: SCUOLA SUPERIORE SANT’ANNA (Pisa, Italy) Design of novel HMPI kinematic architectures. Design of novel actuation systems for HMPI: • Based on Dielectric Elastomers • Large deformations V = 0kV • Large force (power)-to-weight ratios • Low costs [ <0.5€/W vs. >3€/W of traditional EM drives ]; • Large shock-insensitivity; • Different actuators geometries have been studied and optimized 0kV 6kV COMPLIANT MECHANISMS and SOFT MATERIALS Collaboration: Group of Mechatronic Design, UNIBO (Prof. G. Vassura) Design of compliant fingers (robotic grippers / orthesis) • Reduction of assembly costs • Monolithic prototypes Design soft covers similar to biological skin: • Hardness similar to human thumb • Better friction properties • Reduced thickness → easier to accommodate mechanical parts Finger prototype ROBOTIC HANDS Collaboration: Group of Mechatronic Design, DIEM/DEIS Mechanical design of robotic hands UBH-IV: DIEM/DEIS • Endoskeletal structure articulated by means of non conventional joints • sliding • compliant • Actuated by means of tendons • Surface compliance through a purposely designed soft cover • Systematic parts integration • Reduction of assembly complexity • Reduction of weight and cost of the overall hand system • increased "affordability." REHABILITATION AND ASSISTIVE ROBOTICS – Design methodology focused on the patient – Design of upper limb Prostheses and Exoskeletons – Definition of control strategies – Bench tests – Clinical tests HUMAN JOINT MODELLING Experimental analysis of human joints: • Articular surfaces • Passive articular structures • Natural motion Knee and ankle models: • Kinematic models based on parallel mechanisms • Static models • Different models for different applications • High accuracy PROSTHESES Collaborations: Rizzoli Orthopaedic Institute, Smith & Nephew, Hit Medica Design of innovative medical devices: • Internal prostheses • External prostheses • Orthoses and Exoskeletons Advantages: • Natural motion reproduction • Natural constraints of the joint • Mechanically simple Patents and prototypes: • 2 international patents covering the basic ideas (that can be applied to several human joints) and 4 prosthetic solutions for the knee • 5 prototypes of total knee replacement VIBRATIONS of MACHINES – Finite Element Modeling of machine components – Lumped Parameters Modeling of mechanisms – Flexible Multibody Systems – Experimental measurements of vibrations – Experimental Modal Analysis (EMA) – Operational Modal Analysis (OMA) – Signal Processing – Model Validation THANK YOU VERY MUCH!
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