1,721,025 research outputs found
Linear and nonlinear dynamic behaviour for biped locomotion with flexible-wheeled legs
Full text linkWe present Linear and nonlinear dynamic behaviour for biped locomotion with flexible-wheeled leg
Design of a robot for hygienization of walls in hospital environments
No full textThe paper describes the methodology applied to the design of a climbing robot that has been conceived and studied to solve the real task of cleaning the wall surfaces of hospital and clinic nursing home environments. The robot is able to spray different cleaning and disinfecting liquids for preventing infections. This robot is light and simple and it is thought to work in a team in order to guarantee a fast and coordinated cleaning system to all the room walls. It has been conceived, and designed taking into account critical issues in geometric modelling and functional requirements involving multiple engineering disciplines which concur to optimize the robot characteristics while reducing the development time
SUAS: A Novel Soft Underwater Artificial Skin with Capacitive Transducers and Hyperelastic Membrane
No full textThe paper presents physical modeling, design, simulations, and experimentation on a novel Soft Underwater Artificial Skin (SUAS) used as tactile sensor. The SUAS functions as an electrostatic capacitive sensor, and it is composed of a hyperelastic membrane used as external cover and oil inside it used to compensate the marine pressure. Simulation has been performed studying and modeling the behavior of the external interface of the SUAS in contact with external concentrated loads in marine environment. Experiments on the external and internal components of the SUAS have been done using two different conductive layers in oil. A first prototype has been realized using a 3D printer. The results of the paper underline how the soft materials permit better adhesion of the conductive layer to the transducers of the SUAS obtaining higher capacitance. The results here presented confirmed the first hypotheses presented in a last work and opened new ways in the large-scale underwater tactile sensor design and development. The investigations are performed in collaboration with a national Italian project named MARIS, regarding the possible extension to the underwater field of the technologies developed within the European project ROBOSKIN
Formulation of a Transfer Function between rotor responses on a High Speed Balancing Machine and in Turbo Machinery by System Identification
No full textIn this paper the authors propose an innovative method for the determination of a transfer function (MTF) between the rotor responses on a balancing machine (HSB) and on turbo machinery (SP). The prediction of the rotor behavior in its turbomachine final housing is a crucial problem for turbo machinery manufacturers and very complex to solve using classical approaches. The proposed method uses a particular MTF formula, calculated with a black/box approach based on the application of the theory of System Identification, using the rotor responses in SP and in HSB as input and output respectively. MTF was determined by a regression analysis of the responses in HSB and SP of 10 rotors; subsequently it was tested and validated on other 15 rotors. The results demonstrate that proposed MTF simulates a rotor behavior in SP with a satisfactory overlapping of the measured output
Multibody dynamics of a flexible legged robot with wheeled feet
No full textThe objective of this paper is to analyze the multibody dynamic model of biped flexible robots with wheeled feet. The following two points underline the novelty of this paper: 1) a novel physical and analytical model of a biped wheeled robot with flexible legs; 2) a biped locomotion composed by a combination of flexible links and wheeled feet. The validation of the model with the real robot gives to the scientific community a key reference to design future biped wheeled and flexible robots
Design and Control of a Reclining Chair with Soft Pneumatic Cushions
Full text linkThe object of this work is the control of a reclining chair with active cushions used to optimize the interaction of the human with the chair and to avoid the formation of sores on the skin. The cushion system, already presented in other works, consists of air-cell actuators distributed according to the risk that pressure ulcers on the skin can be generated in certain areas. In this work, four cushions are designed and controlled for four parts of the human body: 1) head; 2) back; 3) buttocks; 4) heels. Cushions are used to design a reclining chair that can be moved between two configuration limits: a) chair; b) bed. The four cushions can provide real-time pressure mapping with closed-loop control, which allows to identify critical points on the body surface where pressure ulcers could form. The control systems for the single air-cell and for all cushions are designed and simulated using the software MATLAB/Simulink, presenting very interesting results
Use of Pneumatic Artificial Muscles in a Passive Upper Body Exoskeleton
No full textThis paper presents a preliminary study on a novel upper body exoskeleton conceived for human effort reduction in uncomfortable operations. The exoskeleton is constituted by a light wearable structure energized by two McKibben pneumatic artificial muscles, which could be used in passive (such as springs) or active mode (such as actuators). In this work, the modelling and the design of the exoskeleton is presented. The performance of the exoskeleton is evaluated considering two commercial McKibben muscles used in passive mode. The results underline that the exoskeleton can be adapted to compensate the weight of the upper limbs and a load in the hands of an operator under defined working conditions
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