Group of Robotics and Articular Biomechanics

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Presentation transcript:

Group of Robotics and Articular Biomechanics 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 Patented parallel robots for: translational motion orientational motion Synthesis of parallel robots for improved performances: simpler control; 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 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 V = 0kV 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 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

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!