Group of Robotics and Articular Biomechanics

cuckootrainMechanics

Oct 31, 2013 (3 years and 1 month ago)

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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 :



Duisburg
-
Essen University (Germany)


Guanajuato University (Mexico)


Laval University (Canada)


MIT (USA)


Monastir University (Tunisia)


Oxford University (Great Britain)


Paris 6 University (France)


Scuola Superiore Sant’Anna (Italy)





Research Centers:



CNR
-
ITIA (Italy)


Fraunhofer Institute (Germany)


INAIL Prosthetic Centre (Italy)


INRIA


Sophia Antipolis (France)


Jozef Stefan Institute (Slovenia)


Rizzoli Orthopaedic Institute ( 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

Synthesis of parallel robots

for improved performances:


simpler control;


better real
-
time performances;


greater dexterity;


enhanced actuator operation;


limited singularity problems.

Patented parallel robots for:


translational motion


orientational motion

CABLE ROBOTS


Collaboration
:
INRIA Sophia Antipolis
,
Équipe COPRIN
(Dr: Jean
-
Pierre Merlet)

Cable
-
Driven Parallel Robots
:


reduced manufacturing and

assembling costs;


ample workspace;


mechanical modularity.

Service Robotics for Assistance and Rehabilitation :


cost


mechanical simplicity;


high degree of modularity;


adaptability to users needs and

environment.

Activity in Bologna
:


Mechanical problems

(kinetostatic analysis, stability analysis, etc.)

HUMAN
-
MACHINE

PHYSICAL INTERFACES (HMPI)

Design of novel HMPI kinematic architectures.

Design of novel actuation systems for HMPI:


Based on
Dielectric
Elastomers


Large deformations


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

Collaboration
:
SCUOLA SUPERIORE SANT’ANNA
(Pisa, Italy)

V = 0kV

0kV

6kV

COMPLIANT MECHANISMS

and SOFT MATERIALS

Collaboration
: Group of Mechatronic Design, UNIBO
(Prof. G. Vassura)

Finger prototype

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

ROBOTIC HANDS

Collaboration
: Group of Mechatronic Design,
DIEM/DEIS

Mechanical design of robotic hands


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
."






UBH
-
IV: DIEM/DEIS


Design methodology focused on the patient


Design of upper limb
Prostheses

and
Exoskeletons


Definition of control strategies



Bench tests


Clinical tests


REHABILITATION AND

ASSISTIVE ROBOTICS

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


Design of innovative medical devices:


Internal prostheses


External prostheses


Orthoses and Exoskeletons

Collaborations
:
Rizzoli Orthopaedic Institute, Smith & Nephew, Hit Medica

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


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

VIBRATIONS of MACHINES

THANK YOU VERY MUCH!