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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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posted:10/8/2013
language:Latin
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