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286 results on '"Di Gregorio, Raffaele"'

3. Position Analysis of a Novel Family of Three-Legged 6-DOF Parallel Manipulators of Type 3-XXRRU

Author

Simas, Henrique, Meneghini, Luan, Di Gregorio, Raffaele, Simoni, Roberto, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, and Okada, Masafumi, editor

Published
2023
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6. Wriflex: Design and Kinematic Analysis of a Self-aligning Parallel Wrist

Author

Simas, Henrique, Simoni, Roberto, Di Gregorio, Raffaele, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Altuzarra, Oscar, editor, and Kecskeméthy, Andrés, editor

Published
2022
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8. Position Analysis of a Novel Translational 3-URU with Actuators on the Base

Author

Di Gregorio, Raffaele, Ceccarelli, Marco, Series Editor, Hernandez, Alfonso, Editorial Board Member, Huang, Tian, Editorial Board Member, Takeda, Yukio, Editorial Board Member, Corves, Burkhard, Editorial Board Member, Agrawal, Sunil, Editorial Board Member, Lovasz, Erwin-Christian, editor, Maniu, Inocentiu, editor, Doroftei, Ioan, editor, Ivanescu, Mircea, editor, and Gruescu, Corina-Mihaela, editor

Published
2021
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9. Singularity Loci of a Particular IRI 3-UPU Geometry

Author

Di Gregorio, Raffaele, Ceccarelli, Marco, Series Editor, Hernandez, Alfonso, Editorial Board Member, Huang, Tian, Editorial Board Member, Takeda, Yukio, Editorial Board Member, Corves, Burkhard, Editorial Board Member, Agrawal, Sunil, Editorial Board Member, Lovasz, Erwin-Christian, editor, Maniu, Inocentiu, editor, Doroftei, Ioan, editor, Ivanescu, Mircea, editor, and Gruescu, Corina-Mihaela, editor

Published
2021
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14. Kinematics and Robot Design IV, KaRD2021.

Author

Di Gregorio, Raffaele and Di Gregorio, Raffaele

Subjects
History of engineering & technology, Technology: general issues, Chebyshev and least-square approximations, EP control, Hill's model, MATLAB, RoboMech, SimScape, SimScape Multibody, Simulink, Stephenson III, Watt II, autonomous underwater vehicles, bio-inspired exoskeleton, biomimetics, cable-driven system, collaborative robots, computational modelling, design optimization, dexterity, differential evolution, dimensional synthesis, dynamic modelling, elderly, ergonomics, finger grip, functional electrical stimulation, indeterminate linkages, inspection, kinematic synthesis and analysis, kinematic synthesis of robots, kinematics, kinetostatics, machine design, mechanism optimization, mixed-position synthesis, multibody systems, over-actuation, parallel manipulator, performance index, performance tricycle, pinch assistant, pinch force, planar linkages, rehabilitation robotics, robot design, robot modeling and simulation, robotics, screw theory, simulation, six-bar linkage, skill-based programming, small-scale production, topology, torque adjusting mechanism, transmission systems, twist systems, underwater robots, upper limb rehabilitation, usability, useful workspace
Abstract

Summary: This volume collects the papers published on the special issue "Kinematics and Robot Design IV, KaRD2021" (https://www.mdpi.com/journal/robotics/special_issues/KaRD2021), which is the forth edition of the KaRD special-issue series, hosted by the open-access journal "MDPI Robotics". KaRD series is an open environment where researchers can present their works and discuss all the topics focused on the many aspects that involve kinematics in the design of robotic/automatic systems. Kinematics is so intimately related to the design of robotic/automatic systems that the admitted topics of the KaRD series practically cover all the subjects normally present in well-established international conferences on "mechanisms and robotics". KaRD2021, after the peer-review process, accepted 12 papers. The accepted papers cover some theoretical and many design/applicative aspects.

15. Kinematics and Robot Design II (KaRD2019) and III (KaRD2020)

Author

Di Gregorio, Raffaele and Di Gregorio, Raffaele

Subjects
History of engineering & technology, Technology: general issues, accuracy analysis, kinematics in robot control, mobility and singularity analysis, novel manipulator architectures, performance measures, position analysis, robot modeling and simulation, synthesis of mechanisms, theoretical and computational kinematics
Abstract

Summary: This volume collects papers published in two Special Issues "Kinematics and Robot Design II, KaRD2019" (https://www.mdpi.com/journal/robotics/special_issues/KRD2019) and "Kinematics and Robot Design III, KaRD2020" (https://www.mdpi.com/journal/robotics/special_issues/KaRD2020), which are the second and third issues of the KaRD Special Issue series hosted by the open access journal robotics.The KaRD series is an open environment where researchers present their works and discuss all topics focused on the many aspects that involve kinematics in the design of robotic/automatic systems. It aims at being an established reference for researchers in the field as other serial international conferences/publications are. Even though the KaRD series publishes one Special Issue per year, all the received papers are peer-reviewed as soon as they are submitted and, if accepted, they are immediately published in MDPI Robotics. Kinematics is so intimately related to the design of robotic/automatic systems that the admitted topics of the KaRD series practically cover all the subjects normally present in well-established international conferences on "mechanisms and robotics".KaRD2019 together with KaRD2020 received 22 papers and, after the peer-review process, accepted only 17 papers. The accepted papers cover problems related to theoretical/computational kinematics, to biomedical engineering and to other design/applicative aspects.

16. Kinematics and Robot Design I, KaRD2018.

Author

Di Gregorio, Raffaele and Di Gregorio, Raffaele

Subjects
Technology: general issues, 3D printers, 6-UCU kind Gough-Stewart platform, Duporcq manipulator, NSGA-II, Shoenflies-motion generator, UAVs, Wrench Exertion Capability, accuracy analysis, adaptive, aerial robotics, balancing, belt stiffness, cable driven robot, conditioning index, counterweight, dimensional synthesis, direct kinematics, discrete modeling, dual quaternions, dual-tilting, dynamic system modeling, flexible robotics, flight control, friction ratio, hardware in the loop, hexapod, inverse kinematics, kinematic constraints, kinematic optimisation, kinematics, kinetostatic performances, manipulators, mechanism, mechatronic design, mechatronic system, mechatronic systems, multi-objective evolutionary algorithms, nonlinear flexible beams, optimal design, optimal preshaping input, optimization, over-actuation, parallel kinematic machine, parallel robot, performance index, plane-symmetric motion, projective angles, quadcopters, reconfigurable joint, robot, robotics, rotorcraft, scale geometry, self-motion, serpentine motion, snake robot, snake scale, spacecraft, spatial symmetric rolling, spherical PKM, tilting rotors, timing belt, trajectory planning, underactuated robots, viability
Abstract

Summary: This volume collects the papers published on the Special Issue "Kinematics and Robot Design I, KaRD2018" (https://www.mdpi.com/journal/robotics/special_issues/KARD), which is the first issue of the KaRD Special Issue series, hosted by the open access journal "MDPI Robotics". The KaRD series aims at creating an open environment where researchers can present their works and discuss all the topics focused on the many aspects that involve kinematics in the design of robotic/automatic systems. Kinematics is so intimately related to the design of robotic/automatic systems that the admitted topics of the KaRD series practically cover all the subjects normally present in well-established international conferences on "mechanisms and robotics". KaRD2018 received 22 papers and, after the peer-review process, accepted only 14 papers. The accepted papers cover some theoretical and many design/applicative aspects.

18. On Higher-Pair Modelling in Planar Mechanisms

Author

Di Gregorio, Raffaele, Ceccarelli, Marco, Series Editor, Hernandez, Alfonso, Editorial Board Member, Huang, Tian, Editorial Board Member, Takeda, Yukio, Editorial Board Member, Corves, Burkhard, Editorial Board Member, Agrawal, Sunil, Editorial Board Member, and Uhl, Tadeusz, editor

Published
2019
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20. Smooth path planning for redundant robots on collision avoidance

Author

Simas, Henrique, Martins, Daniel, Di Gregorio, Raffaele, Ceccarelli, Marco, Series Editor, Hernandez, Alfonso, Editorial Board Member, Huang, Tian, Editorial Board Member, Takeda, Yukio, Editorial Board Member, Corves, Burkhard, Editorial Board Member, Agrawal, Sunil, Editorial Board Member, and Uhl, Tadeusz, editor

Published
2019
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21. On the Use of Instant Centers to Build Dynamic Models of Single-dof Planar Mechanisms

Author

Di Gregorio, Raffaele, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Lenarcic, Jadran, editor, and Parenti-Castelli, Vincenzo, editor

Published
2019
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28. Metrics proposed for measuring the distance between two rigid-body poses: review, comparison, and combination.

Author

Di Gregorio, Raffaele

Abstract

The concept of distance between two rigid-body poses is important in path planning, positioning precision, mechanism synthesis, and in many other applications. In the definition of such a distance, two approaches mainly prevail, which lead to a number of formulas devised to match the needs of motion tasks. Despite the different approaches and formulas, some important theoretical results, which drive toward distance-metrics definitions useful for design and application purposes, have been stated. This paper summarizes the two different approaches together with a critical review of the literature on the distance metrics they generated, and, then, it illustrates a technique, previously proposed by the author, for combining different metrics to obtain novel distance-metric definitions that are tailored to specific applications. [ABSTRACT FROM AUTHOR]

Published
2024
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30. Instantaneous Kinematics and Free-from-Singularity Workspace of 3-XXRRU Parallel Manipulators.

Author

Simas, Henrique, Di Gregorio, Raffaele, and Simoni, Roberto

Subjects
PARALLEL robots, KINEMATICS, ACTUATORS
Abstract

3-XXRRU parallel manipulators (PMs) constitute a family of six-degrees-of-freedom (DOF) PMs with three limbs of type XXRRU, where R and U stand for revolute pair and universal joint, respectively, and XX indicates any actuated two-DOF mechanism that moves the axis of the first R-pair. The members of this family share the fact that they all become particular 3-RRU structures when the actuators are locked. By exploiting this feature, the present paper proposes a general approach, which holds for all the members of this family, to analyze the instantaneous kinematics, workspace, and kinetostatic performances of any 3-XXRRU PM. The results of this study include the identification of singularity conditions without reference to a specific actuation system, the proposal of two specific dimensionless performance indices ranging from 0 to 1, the determination of the optimal actuation system, and the demonstration that 3-XXRRU PMs, when appropriately sized and actuated, possess a broad singularity-free workspace that is also fully isotropic. These findings hold significance in the context of the dimensional synthesis and control of 3-XXRRU PMs. Moreover, when combined with the closed-form solutions for their positional analysis, as demonstrated in a previous publication by the same authors, 3-XXRRU PMs emerge as intriguing alternatives to other six-DOF PMs. The efficacy of the proposed approach is further illustrated through a case study. [ABSTRACT FROM AUTHOR]

Published
2023
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