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\n  \n (A) Journal Papers\n \n \n (40)\n \n \n
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\n \n\n \n \n Berselli, G.; Bilancia, P.; Bruzzone, L.; and Fanghella, P.\n\n\n \n \n \n \n Re-Design of a Packaging Machine Employing Linear Servomotors : a Description of Modelling Methods and Engineering Tools.\n \n \n \n\n\n \n\n\n\n Procedia Manufacturing, 00. 2019.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Article{J2019_S1,\r\n  author   = {Berselli, Giovanni and Bilancia, Pietro and Bruzzone, Luca and Fanghella, Pietro},\r\n  title    = {{Re-Design of a Packaging Machine Employing Linear Servomotors : a Description of Modelling Methods and Engineering Tools}},\r\n  journal  = {Procedia Manufacturing},\r\n  year     = {2019},\r\n  volume   = {00},\r\n  abstract = {Position-controlled servo-systems mostly make use of electric rotary motors and gearboxes and, if necessary, a transmission mechanism to convert rotary into linear motion. Even so, especially in the field of automatic machines for packaging, it should be highlighted that most of the required movements are usually linear, so that Linear Electric Motors (LEM) should somehow represent a more convenient solution for designers. LEM can directly generate the required trajectory avoiding any intermediate mechanism, thus potentially minimizing the number of linkages/mechanical parts and, therefore, the undesired backlash and compliance that come along. On the other hand, particularly within small-medium enterprises, LEM may be rarely employed despite obvious advantages, mostly due to their high-cost as compared to rotary actuators and the lack of knowledge of the achievable performance. In light of these considerations, the present paper reports an industrial case study where an automatic machine for packaging, comprising distributed actuation and several tasks requiring a linear motion, has been completely redesigned employing different kind of LEM (i.e. iron-core and iron-less). Such machine architecture is compared to a “traditional” design where brushless gear- motors are coupled to linkage systems. The paper mainly focuses on the selection criteria for the LEM system and on the engineering tools employed during the different design stages. Qualitative and quantitative conclusions are finally drawn, which may provide useful hints for designers that are willing to actually employ LEM-based solutions in an industrial scenario.},\r\n  type     = {(A) Journal Papers},\r\n}\r\n\r\n
\n
\n\n\n
\n Position-controlled servo-systems mostly make use of electric rotary motors and gearboxes and, if necessary, a transmission mechanism to convert rotary into linear motion. Even so, especially in the field of automatic machines for packaging, it should be highlighted that most of the required movements are usually linear, so that Linear Electric Motors (LEM) should somehow represent a more convenient solution for designers. LEM can directly generate the required trajectory avoiding any intermediate mechanism, thus potentially minimizing the number of linkages/mechanical parts and, therefore, the undesired backlash and compliance that come along. On the other hand, particularly within small-medium enterprises, LEM may be rarely employed despite obvious advantages, mostly due to their high-cost as compared to rotary actuators and the lack of knowledge of the achievable performance. In light of these considerations, the present paper reports an industrial case study where an automatic machine for packaging, comprising distributed actuation and several tasks requiring a linear motion, has been completely redesigned employing different kind of LEM (i.e. iron-core and iron-less). Such machine architecture is compared to a “traditional” design where brushless gear- motors are coupled to linkage systems. The paper mainly focuses on the selection criteria for the LEM system and on the engineering tools employed during the different design stages. Qualitative and quantitative conclusions are finally drawn, which may provide useful hints for designers that are willing to actually employ LEM-based solutions in an industrial scenario.\n
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\n \n\n \n \n Bilancia, P.; Berselli, G.; Bruzzone, L.; and Fanghella, P.\n\n\n \n \n \n \n \n A CAD/CAE integration framework for analyzing and designing spatial compliant mechanisms via pseudo-rigid-body methods.\n \n \n \n \n\n\n \n\n\n\n Robotics and Computer-Integrated Manufacturing, 56(March 2018): 287–302. apr 2019.\n \n\n\n\n
\n\n\n\n \n \n \"APaper\n  \n \n \n \"A paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 7 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J39,\r\n  author    = {Bilancia, P. and Berselli, G. and Bruzzone, L. and Fanghella, P.},\r\n  title     = {{A CAD/CAE integration framework for analyzing and designing spatial compliant mechanisms via pseudo-rigid-body methods}},\r\n  journal   = {Robotics and Computer-Integrated Manufacturing},\r\n  year      = {2019},\r\n  volume    = {56},\r\n  number    = {March 2018},\r\n  pages     = {287--302},\r\n  month     = {apr},\r\n  issn      = {07365845},\r\n  abstract  = {Compliant Mechanisms (CMs) are currently employed in several engineering applications requiring high precision and reduced number of parts. For a given mechanism topology, CM analysis and synthesis may be developed resorting to the Pseudo–Rigid Body (PRB) method, in which the behavior of flexible members is approximated via a series of rigid links connected by spring-loaded kinematic pairs. From a CM analysis standpoint, the applicability of a generic PRB model requires the determination of the kinematic pairs' location and the stiffness of a set of generalized springs. In parallel, from a design standpoint, a PRB model representing the kinetostatic behavior of a flexible system should allow to compute the flexures' characteristics providing the desired compliance. In light of these considerations, this paper describes a Computer-Aided Design/Engineering (CAD/CAE) framework for the automatic derivation of accurate PRB model parameters, on one hand, and for the shape optimization of complex-shape flexures comprising out-of-plane displacements and distributed compliance. The method leverages on the modelling and simulation capabilities of a parametric CAD (i.e. PTC Creo) seamlessly connected to a CAE tool (i.e. RecurDyn), which provides built-in functions for modelling the motion of flexible members. The method is initially validated on an elementary case study taken from the literature. Then, an industrial case study, which consists of a spatial crank mechanism connected to a fully-compliant four-bar linkage is discussed. At first, an initial sub-optimal design is considered and its PRB representation is automatically determined. Secondly, on the basis of the PRB model, several improved design alternatives are simulated. Finally, the most promising design solution is selected and the dimensions of a flexure with non-trivial shape (i.e. hybrid flexure) is computed. This technique, which combines reliable numerical results to the visual insight of CAD/CAE tools, may be particularly useful for analyzing/designing spatial CMs composed of complex flexure topologies.},\r\n  doi       = {10.1016/j.rcim.2018.07.015},\r\n  keywords  = {CAD/CAE integration,Distributed compliance,Pseudo rigid body models,Shape optimization,Spatial compliant mechanisms},\r\n  publisher = {Elsevier Ltd},\r\n  type      = {(A) Journal Papers},\r\n  url       = {https://doi.org/10.1016/j.rcim.2018.07.015 https://linkinghub.elsevier.com/retrieve/pii/S0736584518301182},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2019_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Compliant Mechanisms (CMs) are currently employed in several engineering applications requiring high precision and reduced number of parts. For a given mechanism topology, CM analysis and synthesis may be developed resorting to the Pseudo–Rigid Body (PRB) method, in which the behavior of flexible members is approximated via a series of rigid links connected by spring-loaded kinematic pairs. From a CM analysis standpoint, the applicability of a generic PRB model requires the determination of the kinematic pairs' location and the stiffness of a set of generalized springs. In parallel, from a design standpoint, a PRB model representing the kinetostatic behavior of a flexible system should allow to compute the flexures' characteristics providing the desired compliance. In light of these considerations, this paper describes a Computer-Aided Design/Engineering (CAD/CAE) framework for the automatic derivation of accurate PRB model parameters, on one hand, and for the shape optimization of complex-shape flexures comprising out-of-plane displacements and distributed compliance. The method leverages on the modelling and simulation capabilities of a parametric CAD (i.e. PTC Creo) seamlessly connected to a CAE tool (i.e. RecurDyn), which provides built-in functions for modelling the motion of flexible members. The method is initially validated on an elementary case study taken from the literature. Then, an industrial case study, which consists of a spatial crank mechanism connected to a fully-compliant four-bar linkage is discussed. At first, an initial sub-optimal design is considered and its PRB representation is automatically determined. Secondly, on the basis of the PRB model, several improved design alternatives are simulated. Finally, the most promising design solution is selected and the dimensions of a flexure with non-trivial shape (i.e. hybrid flexure) is computed. This technique, which combines reliable numerical results to the visual insight of CAD/CAE tools, may be particularly useful for analyzing/designing spatial CMs composed of complex flexure topologies.\n
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\n \n\n \n \n Gadaleta, M.; Pellicciari, M.; and Berselli, G.\n\n\n \n \n \n \n \n Optimization of the energy consumption of industrial robots for automatic code generation.\n \n \n \n \n\n\n \n\n\n\n Robotics and Computer-Integrated Manufacturing, 57(November 2018): 452–464. 2019.\n \n\n\n\n
\n\n\n\n \n \n \"OptimizationPaper\n  \n \n \n \"Optimization paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J38,\r\n  author    = {Gadaleta, Michele and Pellicciari, Marcello and Berselli, Giovanni},\r\n  title     = {{Optimization of the energy consumption of industrial robots for automatic code generation}},\r\n  journal   = {Robotics and Computer-Integrated Manufacturing},\r\n  year      = {2019},\r\n  volume    = {57},\r\n  number    = {November 2018},\r\n  pages     = {452--464},\r\n  issn      = {07365845},\r\n  abstract  = {At present, energy consumption strongly affects the financial payback period of industrial robots, as well as the related manufacturing process sustainability. Henceforth, during both design and manufacturing management stages, it becomes crucial to assess and optimize the overall energy efficiency of a robotic cell by means of digital manufacturing tools. In practice, robotic plant designers and managers should be able to provide accurate decisions also aimed at the energy optimization of the robotic processes. The strong scientific and industrial relevance of the topic has led to the development of many solutions but, unfortunately, state of the art industrial manipulators are equipped with closed controllers, which heavily limit the feasibility and performance of most of the proposed approaches. In light of the aforementioned considerations, the present paper presents a novel simulation tool, seamlessly interfaced with current robot offline programming tools used in industrial practices, which allows to automatically compute energy-optimal motion parameters, thus reducing the robot energy consumption, while also keeping the same productivity and manufacturing quality. The main advantage of this method, as compared to other optimization routines that are not conceived for direct integration with commercial industrial manipulators, is that the computed parameters are the same ones settable in the robot control codes, so that the results can automatically generate ready-to-use energy-optimal robot code. Experimental tests, performed on a KUKA Quantec KR210 R2700 prime industrial robot, have confirmed the effectiveness of the method and engineering tool.},\r\n  doi       = {10.1016/j.rcim.2018.12.020},\r\n  keywords  = {Automatic code generation,Energy optimization,Industrial robotics,Industry 4.0,Robot offline programming,Sustainable manufacturing,Virtual prototyping},\r\n  publisher = {Elsevier Ltd},\r\n  type      = {(A) Journal Papers},\r\n  url       = {https://doi.org/10.1016/j.rcim.2018.12.020},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2019_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n At present, energy consumption strongly affects the financial payback period of industrial robots, as well as the related manufacturing process sustainability. Henceforth, during both design and manufacturing management stages, it becomes crucial to assess and optimize the overall energy efficiency of a robotic cell by means of digital manufacturing tools. In practice, robotic plant designers and managers should be able to provide accurate decisions also aimed at the energy optimization of the robotic processes. The strong scientific and industrial relevance of the topic has led to the development of many solutions but, unfortunately, state of the art industrial manipulators are equipped with closed controllers, which heavily limit the feasibility and performance of most of the proposed approaches. In light of the aforementioned considerations, the present paper presents a novel simulation tool, seamlessly interfaced with current robot offline programming tools used in industrial practices, which allows to automatically compute energy-optimal motion parameters, thus reducing the robot energy consumption, while also keeping the same productivity and manufacturing quality. The main advantage of this method, as compared to other optimization routines that are not conceived for direct integration with commercial industrial manipulators, is that the computed parameters are the same ones settable in the robot control codes, so that the results can automatically generate ready-to-use energy-optimal robot code. Experimental tests, performed on a KUKA Quantec KR210 R2700 prime industrial robot, have confirmed the effectiveness of the method and engineering tool.\n
\n\n\n
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\n \n\n \n \n Pellicciari, M.; Razzoli, R. P.; Bigi, G.; and Berselli, G.\n\n\n \n \n \n \n \n Design optimisation of cutting parameters for a class of radially-compliant spindles via virtual prototyping tools.\n \n \n \n \n\n\n \n\n\n\n International Journal of Computer Aided Engineering and Technology, 11(2): 232. 2019.\n \n\n\n\n
\n\n\n\n \n \n \"DesignPaper\n  \n \n \n \"Design paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J37,\r\n  author    = {Pellicciari, Marcello and Razzoli, Roberto P. and Bigi, Gabriele and Berselli, Giovanni},\r\n  title     = {{Design optimisation of cutting parameters for a class of radially-compliant spindles via virtual prototyping tools}},\r\n  journal   = {International Journal of Computer Aided Engineering and Technology},\r\n  year      = {2019},\r\n  volume    = {11},\r\n  number    = {2},\r\n  pages     = {232},\r\n  issn      = {1757-2657},\r\n  abstract  = {Robotic deburring (RD) still requires long and delicate physical tests to tune the process-parameters, thus drastically reducing the robotic cell productivity. Henceforth, engineering methods and tools are needed to optimise the RD application within a virtual environment, replicating the real behaviour of the robot tooling under different process conditions, namely unpredictable variety of burr size/shape and limited accuracy of the robot motions. To this purpose, the spindle compliance, which plays a fundamental role, is unfortunately not evaluated by state-of–the-art simulation tools. The present paper proposes a virtual prototype (VP) of a radially-compliant spindle, suitable to assess and optimise the deburring efficiency in different case scenarios. A multi-body model of the spindle, integrated with the process behavioural model, predicts process forces and optimal deburring parameters, delivering the contour maps of the envisaged deburring error as function of feed rate and tool compliance. An industrial case-study is provided.},\r\n  doi       = {10.1504/IJCAET.2019.10018258},\r\n  keywords  = {parameter design,passively,robotic deburring,virtual prototyping},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://www.inderscience.com/link.php?id=10018258},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2019_3.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Robotic deburring (RD) still requires long and delicate physical tests to tune the process-parameters, thus drastically reducing the robotic cell productivity. Henceforth, engineering methods and tools are needed to optimise the RD application within a virtual environment, replicating the real behaviour of the robot tooling under different process conditions, namely unpredictable variety of burr size/shape and limited accuracy of the robot motions. To this purpose, the spindle compliance, which plays a fundamental role, is unfortunately not evaluated by state-of–the-art simulation tools. The present paper proposes a virtual prototype (VP) of a radially-compliant spindle, suitable to assess and optimise the deburring efficiency in different case scenarios. A multi-body model of the spindle, integrated with the process behavioural model, predicts process forces and optimal deburring parameters, delivering the contour maps of the envisaged deburring error as function of feed rate and tool compliance. An industrial case-study is provided.\n
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\n \n\n \n \n Parvari Rad, F.; Vertechy, R.; Berselli, G.; and Parenti-Castelli, V.\n\n\n \n \n \n \n \n Design and Stiffness Evaluation of a Compliant Joint with Parallel Architecture Realizing an Approximately Spherical Motion.\n \n \n \n \n\n\n \n\n\n\n Actuators, 7(2): 20. 2018.\n \n\n\n\n
\n\n\n\n \n \n \"Design paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J36,\r\n  author    = {{Parvari Rad}, Farid and Vertechy, Rocco and Berselli, Giovanni and Parenti-Castelli, Vincenzo},\r\n  title     = {{Design and Stiffness Evaluation of a Compliant Joint with Parallel Architecture Realizing an Approximately Spherical Motion}},\r\n  journal   = {Actuators},\r\n  year      = {2018},\r\n  volume    = {7},\r\n  number    = {2},\r\n  pages     = {20},\r\n  abstract  = {This paper introduces the design of a fully-compliant Spherical Joint (SJ), obtained by the in-parallel connection of two identical open chains each composed of three equal circular flexible beams, having coincident centers of curvature and mutually orthogonal axes of minimum rotational stiffness. Thanks to its particular topology, the SJ provides a fully isotropic behavior, the two chains being placed in space so as to be symmetric with respect to the beams' center of curvature. At first, the overall system compliance matrix is derived by means of an analytical procedure, in order to obtain a parametric formulation of the SJ behavior within the small deflection range. Then, after finite element validation of the analytical model, an optimization study of the beam geometry is developed, with the aim of maximizing the ratio between the SJ primary to secondary compliance factors. At last, the potential advantages and drawbacks of the proposed design are discussed by numerically evaluating the joint performance in terms of parasitic motions within the large deflection range (namely, when large external loads are applied to the envisaged center of spherical motion).},\r\n  doi       = {10.3390/act7020020},\r\n  keywords  = {actuators,circular flexible beams,compliance,compliant mechanisms,design graphs,finite element analysis,matrix,spherical joint},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2018_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n This paper introduces the design of a fully-compliant Spherical Joint (SJ), obtained by the in-parallel connection of two identical open chains each composed of three equal circular flexible beams, having coincident centers of curvature and mutually orthogonal axes of minimum rotational stiffness. Thanks to its particular topology, the SJ provides a fully isotropic behavior, the two chains being placed in space so as to be symmetric with respect to the beams' center of curvature. At first, the overall system compliance matrix is derived by means of an analytical procedure, in order to obtain a parametric formulation of the SJ behavior within the small deflection range. Then, after finite element validation of the analytical model, an optimization study of the beam geometry is developed, with the aim of maximizing the ratio between the SJ primary to secondary compliance factors. At last, the potential advantages and drawbacks of the proposed design are discussed by numerically evaluating the joint performance in terms of parasitic motions within the large deflection range (namely, when large external loads are applied to the envisaged center of spherical motion).\n
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\n \n\n \n \n Martelli, M.; Faggioni, N.; and Berselli, G.\n\n\n \n \n \n \n \n Fuel saving in a marine propulsion plant by using a continuously variable transmission.\n \n \n \n \n\n\n \n\n\n\n Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, (1): 147509021880697. oct 2018.\n \n\n\n\n
\n\n\n\n \n \n \"FuelPaper\n  \n \n \n \"Fuel paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J35,\r\n  author    = {Martelli, Michele and Faggioni, Nicol{\\`{o}} and Berselli, Giovanni},\r\n  title     = {{Fuel saving in a marine propulsion plant by using a continuously variable transmission}},\r\n  journal   = {Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment},\r\n  year      = {2018},\r\n  number    = {1},\r\n  pages     = {147509021880697},\r\n  month     = {oct},\r\n  issn      = {1475-0902},\r\n  abstract  = {Nowadays, more than in the past, marine industries are paying increasing attention to the environmental impact of ships and vessels. Several solutions have been studied and adopted with the final aim of reducing the exhaust gas emissions, mainly acting on the fuel consumption reduction. Within this scenario, the aim of this article is to investigate the energy performance and the fuel saving potential when employing a magnetic continuously variable transmission in a marine propul- sion system. Such magnetic continuously variable transmission, considered among other possible continuously variable transmission designs since its torque capabilities are perfectly suitable for the application at hand, is employed in order to optimize the overall propulsion efficiency through an appropriate optimal variation of the reduction ratio as a function of the propeller loads. A secondary benefit, although not less important, is that the magnetic continuously variable trans- mission is an oil-free transmission that consequently offers a lower environmental impact as compared to traditional lubricated gearboxes. Owing to these considerations, in the article, the magnetic continuously variable transmission size is first selected on the basis of a simplified static model of the vessel. Subsequently, a dynamic mathematical model repre- senting the overall drivetrain dynamic of the propulsion plant is developed, with the purpose of simulating the transmis- sion behaviour during fast ship manoeuvres. Then, in order to test the effectiveness of the proposed design, a trawler is selected as a case study. This particular ship type has been chosen as it provides a variegated operative profile in terms of speed and required thrust, thus being a representative case of those ships in which a continuously variable transmis- sion installation could effectively provide practical benefits. A quantitative analysis of the plant efficiency is finally provided and critically discussed.},\r\n  doi       = {10.1177/1475090218806977},\r\n  isbn      = {1475090218},\r\n  keywords  = {Marine propulsion plant,continuously variable transmission,fuel consumption,ship energy efficiency,time domain simulation},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://journals.sagepub.com/doi/10.1177/1475090218806977},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2018_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Nowadays, more than in the past, marine industries are paying increasing attention to the environmental impact of ships and vessels. Several solutions have been studied and adopted with the final aim of reducing the exhaust gas emissions, mainly acting on the fuel consumption reduction. Within this scenario, the aim of this article is to investigate the energy performance and the fuel saving potential when employing a magnetic continuously variable transmission in a marine propul- sion system. Such magnetic continuously variable transmission, considered among other possible continuously variable transmission designs since its torque capabilities are perfectly suitable for the application at hand, is employed in order to optimize the overall propulsion efficiency through an appropriate optimal variation of the reduction ratio as a function of the propeller loads. A secondary benefit, although not less important, is that the magnetic continuously variable trans- mission is an oil-free transmission that consequently offers a lower environmental impact as compared to traditional lubricated gearboxes. Owing to these considerations, in the article, the magnetic continuously variable transmission size is first selected on the basis of a simplified static model of the vessel. Subsequently, a dynamic mathematical model repre- senting the overall drivetrain dynamic of the propulsion plant is developed, with the purpose of simulating the transmis- sion behaviour during fast ship manoeuvres. Then, in order to test the effectiveness of the proposed design, a trawler is selected as a case study. This particular ship type has been chosen as it provides a variegated operative profile in terms of speed and required thrust, thus being a representative case of those ships in which a continuously variable transmis- sion installation could effectively provide practical benefits. A quantitative analysis of the plant efficiency is finally provided and critically discussed.\n
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\n \n\n \n \n Bilancia, P.; Berselli, G.; Bruzzone, L.; and Fanghella, P.\n\n\n \n \n \n \n \n A Practical Method for Determining the Pseudo-rigid-body Parameters of Spatial Compliant Mechanisms via CAE Tools.\n \n \n \n \n\n\n \n\n\n\n Procedia Manufacturing, 11(June): 1709–1717. 2017.\n \n\n\n\n
\n\n\n\n \n \n \"APaper\n  \n \n \n \"A paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
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@Article{J34,\r\n  author    = {Bilancia, Pietro and Berselli, Giovanni and Bruzzone, Luca and Fanghella, Pietro},\r\n  title     = {{A Practical Method for Determining the Pseudo-rigid-body Parameters of Spatial Compliant Mechanisms via CAE Tools}},\r\n  journal   = {Procedia Manufacturing},\r\n  year      = {2017},\r\n  volume    = {11},\r\n  number    = {June},\r\n  pages     = {1709--1717},\r\n  issn      = {23519789},\r\n  abstract  = {Compliant Mechanisms (CMs) are employed in several applications requiring high precision and reduced number of parts. For a given topology, CM analysis and synthesis may be developed resorting to the Pseudo-Rigid Body (PRB) approximation, where flexible members are modelled via a series of spring-loaded revolute joints, thus reducing computational costs during CM simulation. Owing to these considerations, this paper reports about a practical method to determine accurate PRB models of CMs comprising out-of-plane displacements and distributed compliance. The method leverages on the optimization capabilities of modern CAE tools, which provide built-in functions for modelling the motion of flexible members. After the validation of the method on an elementary case study, an industrial CM consisting of a crank mechanism connected to a fully-compliant four-bar linkage is considered. The resulting PRB model, which comprises four spherical joints with generalized springs mounted in parallel, shows performance comparable with the deformable system.},\r\n  doi       = {10.1016/j.promfg.2017.07.374},\r\n  keywords  = {CAD/CAE Tools,Carachteristic Parameters,Compliant Mechanisms,Flexible Multi-Body Dynamics,Pseudo-Rigid Body Models},\r\n  publisher = {The Author(s)},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://dx.doi.org/10.1016/j.promfg.2017.07.374},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2017_6.pdf},\r\n}\r\n\r\n
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\n Compliant Mechanisms (CMs) are employed in several applications requiring high precision and reduced number of parts. For a given topology, CM analysis and synthesis may be developed resorting to the Pseudo-Rigid Body (PRB) approximation, where flexible members are modelled via a series of spring-loaded revolute joints, thus reducing computational costs during CM simulation. Owing to these considerations, this paper reports about a practical method to determine accurate PRB models of CMs comprising out-of-plane displacements and distributed compliance. The method leverages on the optimization capabilities of modern CAE tools, which provide built-in functions for modelling the motion of flexible members. After the validation of the method on an elementary case study, an industrial CM consisting of a crank mechanism connected to a fully-compliant four-bar linkage is considered. The resulting PRB model, which comprises four spherical joints with generalized springs mounted in parallel, shows performance comparable with the deformable system.\n
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\n \n\n \n \n Albert, A.; Berselli, G.; Bruzzone, L.; and Fanghella, P.\n\n\n \n \n \n \n \n Mechanical design and simulation of an onshore four-bar wave energy converter.\n \n \n \n \n\n\n \n\n\n\n Renewable Energy, 114: 766–774. 2017.\n \n\n\n\n
\n\n\n\n \n \n \"MechanicalPaper\n  \n \n \n \"Mechanical paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J33,\r\n  author    = {Albert, Alberto and Berselli, Giovanni and Bruzzone, Luca and Fanghella, Pietro},\r\n  title     = {{Mechanical design and simulation of an onshore four-bar wave energy converter}},\r\n  journal   = {Renewable Energy},\r\n  year      = {2017},\r\n  volume    = {114},\r\n  pages     = {766--774},\r\n  issn      = {18790682},\r\n  abstract  = {The paper presents the design of an onshore Wave Energy Converter (WEC) named ALETTONE (At Least Energy Thanks To Neptune), which is characterized by a low cost mechanical architecture based on a four-bar linkage with mobility in a vertical plane. The lower link is a floating rocker arm moved by the hydrostatic and hydrodynamic forces exerted by the sea water, whereas the upper rocker arm is connected to a rotating electric generator via a transmission composed of either a single or a pair of one-way clutches coupled to a speed multiplier gearbox. Due to its simplicity, this WEC concept seems to be an interesting solution for energy generation in isolated locations. After a description of the overall design, the dynamic model of the system is presented, along with simulation results in case of monochromatic and panchromatic waves.},\r\n  doi       = {10.1016/j.renene.2017.07.089},\r\n  keywords  = {Four-bar mechanism,Multibody simulation,Onshore generation,Wave energy converter},\r\n  publisher = {Elsevier Ltd},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://dx.doi.org/10.1016/j.renene.2017.07.089},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2017_7.pdf},\r\n}\r\n\r\n
\n
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\n The paper presents the design of an onshore Wave Energy Converter (WEC) named ALETTONE (At Least Energy Thanks To Neptune), which is characterized by a low cost mechanical architecture based on a four-bar linkage with mobility in a vertical plane. The lower link is a floating rocker arm moved by the hydrostatic and hydrodynamic forces exerted by the sea water, whereas the upper rocker arm is connected to a rotating electric generator via a transmission composed of either a single or a pair of one-way clutches coupled to a speed multiplier gearbox. Due to its simplicity, this WEC concept seems to be an interesting solution for energy generation in isolated locations. After a description of the overall design, the dynamic model of the system is presented, along with simulation results in case of monochromatic and panchromatic waves.\n
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\n \n\n \n \n Gadaleta, M.; Berselli, G.; and Pellicciari, M.\n\n\n \n \n \n \n \n Energy-optimal layout design of robotic work cells: Potential assessment on an industrial case study.\n \n \n \n \n\n\n \n\n\n\n Robotics and Computer-Integrated Manufacturing, 47(December 2015): 102–111. 2017.\n \n\n\n\n
\n\n\n\n \n \n \"Energy-optimalPaper\n  \n \n \n \"Energy-optimal paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Article{J32,\r\n  author    = {Gadaleta, Michele and Berselli, Giovanni and Pellicciari, Marcello},\r\n  title     = {{Energy-optimal layout design of robotic work cells: Potential assessment on an industrial case study}},\r\n  journal   = {Robotics and Computer-Integrated Manufacturing},\r\n  year      = {2017},\r\n  volume    = {47},\r\n  number    = {December 2015},\r\n  pages     = {102--111},\r\n  issn      = {07365845},\r\n  abstract  = {This paper presents a new method for optimizing the layout position of several Industrial Robots (IRs) placed within manufacturing work-cells, in order to execute a set of specified tasks with the minimum energy consumption. At first, a mechatronic model of an anthropomorphous IR is developed, by leveraging on the Modelica/Dymola built-in capabilities. The IR sub-system components (namely mechanical structure, actuators, power electronic and control logics) are modeled with the level of detail strictly necessary for an accurate prediction of the system power consumption, while assuring efficient computational efforts. Secondly, once each IR task is assigned, the optimal work-cell layout is computed by using proper optimization techniques, which numerically retrieve the IR base position corresponding to the minimum energy consumption. As an output to this second development stage, a set of color/contour maps is provided, that depicts both energy demand and time required for the task completion as function of the robot position in the cell to support the designer in the development of an energy-efficient layout. At last, two robotic manufacturing work-cells are set-up within the Delmia Robotics environment, in order to provide a benchmark case study for the evaluation of any energy saving potential. Numerical results confirm possible savings up to 20{\\%} with respect to state-of-the-art work-cell design practice.},\r\n  doi       = {10.1016/j.rcim.2016.10.002},\r\n  publisher = {Elsevier Ltd},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://dx.doi.org/10.1016/j.rcim.2016.10.002},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2017_2.pdf},\r\n}\r\n\r\n
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\n This paper presents a new method for optimizing the layout position of several Industrial Robots (IRs) placed within manufacturing work-cells, in order to execute a set of specified tasks with the minimum energy consumption. At first, a mechatronic model of an anthropomorphous IR is developed, by leveraging on the Modelica/Dymola built-in capabilities. The IR sub-system components (namely mechanical structure, actuators, power electronic and control logics) are modeled with the level of detail strictly necessary for an accurate prediction of the system power consumption, while assuring efficient computational efforts. Secondly, once each IR task is assigned, the optimal work-cell layout is computed by using proper optimization techniques, which numerically retrieve the IR base position corresponding to the minimum energy consumption. As an output to this second development stage, a set of color/contour maps is provided, that depicts both energy demand and time required for the task completion as function of the robot position in the cell to support the designer in the development of an energy-efficient layout. At last, two robotic manufacturing work-cells are set-up within the Delmia Robotics environment, in order to provide a benchmark case study for the evaluation of any energy saving potential. Numerical results confirm possible savings up to 20% with respect to state-of-the-art work-cell design practice.\n
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\n \n\n \n \n Bruzzone, L; Berselli, G; Bilancia, P; and Fanghella, P\n\n\n \n \n \n \n \n Quasi-static models of a four-bar quick-release hook.\n \n \n \n \n\n\n \n\n\n\n International Journal of Mechanics and Control, 18(2): 25–32. 2017.\n \n\n\n\n
\n\n\n\n \n \n \"Quasi-staticPaper\n  \n \n \n \"Quasi-static paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Article{J31,\r\n  author    = {Bruzzone, L and Berselli, G and Bilancia, P and Fanghella, P},\r\n  title     = {{Quasi-static models of a four-bar quick-release hook}},\r\n  journal   = {International Journal of Mechanics and Control},\r\n  year      = {2017},\r\n  volume    = {18},\r\n  number    = {2},\r\n  pages     = {25--32},\r\n  abstract  = {Quick-Release Hooks (QRHs) are connection devioes for cbains or metal ropes, which can be unfastened under full-load conditions by using a limited opening foroe. Despite their widespread use, tbe scientific literature about the mechanical behaviour of QRHs is ra1her limited. 1bis paper deals with the kinematic and quasi-static analysis of a cws of QRHs, basecl on a spring-loaded four-bar mechanism operating in tbe proximity of a singularity configuration. The quasi-stati.e aoalysis allows to estimate the opening farce as a function of the mechanism geometry and ofthe safety spring's features. At last, a multibody model ofthe system is developed, in order to validate the analytical model and to evaluate the influence of friction in revolute joints.},\r\n  type      = {(A) Journal Papers},\r\n  url       = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85037973074{\\&}partnerID=40{\\&}md5=ad8a59fa1ec619c83cc92e30f3317574},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2017_4.pdf},\r\n}\r\n\r\n
\n
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\n Quick-Release Hooks (QRHs) are connection devioes for cbains or metal ropes, which can be unfastened under full-load conditions by using a limited opening foroe. Despite their widespread use, tbe scientific literature about the mechanical behaviour of QRHs is ra1her limited. 1bis paper deals with the kinematic and quasi-static analysis of a cws of QRHs, basecl on a spring-loaded four-bar mechanism operating in tbe proximity of a singularity configuration. The quasi-stati.e aoalysis allows to estimate the opening farce as a function of the mechanism geometry and ofthe safety spring's features. At last, a multibody model ofthe system is developed, in order to validate the analytical model and to evaluate the influence of friction in revolute joints.\n
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\n \n\n \n \n Gadaleta, M.; Berselli, G.; Pellicciari, M.; and Sposato, M.\n\n\n \n \n \n \n \n A Simulation Tool for Computing Energy Optimal Motion Parameters of Industrial Robots.\n \n \n \n \n\n\n \n\n\n\n Procedia Manufacturing, 11(June): 319–328. 2017.\n \n\n\n\n
\n\n\n\n \n \n \"APaper\n  \n \n \n \"A paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J30,\r\n  author    = {Gadaleta, Michele and Berselli, Giovanni and Pellicciari, Marcello and Sposato, Mario},\r\n  title     = {{A Simulation Tool for Computing Energy Optimal Motion Parameters of Industrial Robots}},\r\n  journal   = {Procedia Manufacturing},\r\n  year      = {2017},\r\n  volume    = {11},\r\n  number    = {June},\r\n  pages     = {319--328},\r\n  issn      = {23519789},\r\n  abstract  = {This paper presents a novel robot simulation tool, fully interfaced with a common Robot Offline Programming software (i.e. Delmia Robotics), which allows to automatically compute energy-optimal motion parameters, for a given end-effector path, by tuning the joint speed/acceleration during point-to-point motions whenever allowed by the manufacturing constraints. The main advantage of this method, as compared to other optimization routines that are not conceived for a seamless integration with commercial industrial manipulators, is that the computed parameters are the same required by the robot controls, so that the results can generate ready-to-use energy-optimal robot code.},\r\n  doi       = {10.1016/j.promfg.2017.07.114},\r\n  keywords  = {Computer-Aided Robotic tools,Delmia Robotics,Energy Optimization,Industrial Robots,Sustainable Manufacturing},\r\n  publisher = {The Author(s)},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://dx.doi.org/10.1016/j.promfg.2017.07.114},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2017_5.pdf},\r\n}\r\n\r\n
\n
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\n This paper presents a novel robot simulation tool, fully interfaced with a common Robot Offline Programming software (i.e. Delmia Robotics), which allows to automatically compute energy-optimal motion parameters, for a given end-effector path, by tuning the joint speed/acceleration during point-to-point motions whenever allowed by the manufacturing constraints. The main advantage of this method, as compared to other optimization routines that are not conceived for a seamless integration with commercial industrial manipulators, is that the computed parameters are the same required by the robot controls, so that the results can generate ready-to-use energy-optimal robot code.\n
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\n \n\n \n \n Vergnano, A.; Berselli, G.; and Pellicciari, M.\n\n\n \n \n \n \n \n Interactive simulation-based-training tools for manufacturing systems operators: an industrial case study.\n \n \n \n \n\n\n \n\n\n\n International Journal on Interactive Design and Manufacturing, 11(4): 785–797. 2017.\n \n\n\n\n
\n\n\n\n \n \n \"Interactive paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J29,\r\n  author    = {Vergnano, Alberto and Berselli, Giovanni and Pellicciari, Marcello},\r\n  title     = {{Interactive simulation-based-training tools for manufacturing systems operators: an industrial case study}},\r\n  journal   = {International Journal on Interactive Design and Manufacturing},\r\n  year      = {2017},\r\n  volume    = {11},\r\n  number    = {4},\r\n  pages     = {785--797},\r\n  issn      = {19552505},\r\n  abstract  = {{\\textcopyright} 2016, Springer-Verlag France. Industrial process plants are increasingly becoming complex structures with high level of automation. Nonetheless, the final plant productivity and the overall equipment efficiency does not solely depend on an optimized engineering design/installation practice, but also on human operators supervision. In parallel, along with the classic demand to minimize costs and time-to-market during the design phases, issues concerning human safety and failure prevention play a crucial role, one of the highest target being the avoidance of dangerous process states. Within this context, Simulation-Based-Training (SBT) allows plant operators to learn how to command complex automated machineries within a secure virtual environment. Similar to its usage in medical, aerospace, naval and military fields, SBT for manufacturing systems can be employed in order to involve the user within a realistic scenario, thus providing an effective, lifelike, interactive training experience under the supervision of experienced personnel. In addition, also according to previous literature, industry-driven SBT may be effectively envisaged as a natural extension of the plant life-cycle simulation practice, comprising Design Simulation  {\\&}  Optimization, Virtual Commissioning, Operator Training, up to Plant Maintenance. In this context, since the overall system behavior depends both on manufacturing process dynamics and Control Logics, the main challenge for an effective SBT is related with the development of a real-time environment where control system responsiveness is fully reproduced. Owing to this consideration, this paper reports a successful industrial case study, concerning a novel SBT workbench used for steel plants operator training, discussing both the virtual prototyping phase and the development of a real-time simulation architecture. In particular, a hybrid process simulation is employed, where a virtual process model is coupled with physical PLC and Human–Machine Interface, thus achieving an accurate reproduction of the real plant/operator interaction.},\r\n  doi       = {10.1007/s12008-016-0367-7},\r\n  keywords  = {Hybrid virtual/physical simulation,Industrial case study,Simulation-based-training,Virtual commissioning,Virtual prototyping},\r\n  publisher = {Springer Paris},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2017_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n © 2016, Springer-Verlag France. Industrial process plants are increasingly becoming complex structures with high level of automation. Nonetheless, the final plant productivity and the overall equipment efficiency does not solely depend on an optimized engineering design/installation practice, but also on human operators supervision. In parallel, along with the classic demand to minimize costs and time-to-market during the design phases, issues concerning human safety and failure prevention play a crucial role, one of the highest target being the avoidance of dangerous process states. Within this context, Simulation-Based-Training (SBT) allows plant operators to learn how to command complex automated machineries within a secure virtual environment. Similar to its usage in medical, aerospace, naval and military fields, SBT for manufacturing systems can be employed in order to involve the user within a realistic scenario, thus providing an effective, lifelike, interactive training experience under the supervision of experienced personnel. In addition, also according to previous literature, industry-driven SBT may be effectively envisaged as a natural extension of the plant life-cycle simulation practice, comprising Design Simulation & Optimization, Virtual Commissioning, Operator Training, up to Plant Maintenance. In this context, since the overall system behavior depends both on manufacturing process dynamics and Control Logics, the main challenge for an effective SBT is related with the development of a real-time environment where control system responsiveness is fully reproduced. Owing to this consideration, this paper reports a successful industrial case study, concerning a novel SBT workbench used for steel plants operator training, discussing both the virtual prototyping phase and the development of a real-time simulation architecture. In particular, a hybrid process simulation is employed, where a virtual process model is coupled with physical PLC and Human–Machine Interface, thus achieving an accurate reproduction of the real plant/operator interaction.\n
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\n \n\n \n \n Parvari Rad, F.; Berselli, G.; Vertechy, R.; and Parenti-Castelli, V.\n\n\n \n \n \n \n \n Design and stiffness analysis of a compliant spherical chain with three degrees of freedom.\n \n \n \n \n\n\n \n\n\n\n Precision Engineering, 47: 1–9. 2017.\n \n\n\n\n
\n\n\n\n \n \n \"DesignPaper\n  \n \n \n \"Design paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J28,\r\n  author    = {{Parvari Rad}, Farid and Berselli, Giovanni and Vertechy, Rocco and Parenti-Castelli, Vincenzo},\r\n  title     = {{Design and stiffness analysis of a compliant spherical chain with three degrees of freedom}},\r\n  journal   = {Precision Engineering},\r\n  year      = {2017},\r\n  volume    = {47},\r\n  pages     = {1--9},\r\n  issn      = {01416359},\r\n  abstract  = {This paper introduces and investigates a compliant spherical 3R open chain that is obtained by the in-series connection of three identical circularly-curved beam flexures with coincident centers of curvature and mutually orthogonal axes of maximum rotational compliance. The considered open chain is intended to be used directly as a spherical mechanism in pointing devices or as a complex spherical flexure for the development of spatial parallel manipulators. The compliance matrix of the proposed chain is first determined via an analytical procedure. After finite element validation, the obtained equations are used in a parametric study to assess the influence of circularly-curved beam flexure geometric parameters on the overall stiffness performances of the considered compliant spherical 3R open chain. In addition, comparison with an equivalent compliant spherical chain employing straight beam flexures is reported to highlight the added benefits of using circularly-curved beam flexures in terms of reduced parasitic motions.},\r\n  doi       = {10.1016/j.precisioneng.2016.06.011},\r\n  keywords  = {Circularly-curved beam flexures,Compliance matrix,Finite element analysis,Parasitic motions},\r\n  publisher = {Elsevier Inc.},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://dx.doi.org/10.1016/j.precisioneng.2016.06.011},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2017_8.pdf},\r\n}\r\n\r\n
\n
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\n This paper introduces and investigates a compliant spherical 3R open chain that is obtained by the in-series connection of three identical circularly-curved beam flexures with coincident centers of curvature and mutually orthogonal axes of maximum rotational compliance. The considered open chain is intended to be used directly as a spherical mechanism in pointing devices or as a complex spherical flexure for the development of spatial parallel manipulators. The compliance matrix of the proposed chain is first determined via an analytical procedure. After finite element validation, the obtained equations are used in a parametric study to assess the influence of circularly-curved beam flexure geometric parameters on the overall stiffness performances of the considered compliant spherical 3R open chain. In addition, comparison with an equivalent compliant spherical chain employing straight beam flexures is reported to highlight the added benefits of using circularly-curved beam flexures in terms of reduced parasitic motions.\n
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\n \n\n \n \n Vergnano, A.; Berselli, G.; and Pellicciari, M.\n\n\n \n \n \n \n \n Parametric virtual concepts in the early design of mechanical systems: a case study application.\n \n \n \n \n\n\n \n\n\n\n International Journal on Interactive Design and Manufacturing, 11(2): 331–340. 2017.\n \n\n\n\n
\n\n\n\n \n \n \"Parametric paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J27,\r\n  author    = {Vergnano, Alberto and Berselli, Giovanni and Pellicciari, Marcello},\r\n  title     = {{Parametric virtual concepts in the early design of mechanical systems: a case study application}},\r\n  journal   = {International Journal on Interactive Design and Manufacturing},\r\n  year      = {2017},\r\n  volume    = {11},\r\n  number    = {2},\r\n  pages     = {331--340},\r\n  issn      = {19552505},\r\n  abstract  = {Virtual prototyping enables the validation and optimization of mechanical devices similar to physical testing, saving time and costs in the product development, especially in case of heavy machines with complex motions. However, virtual prototyping is usually deployed only at the end of the design process, when the product architecture has already been developed. The present paper discusses the introduction of virtual prototypes since the conceptual design stage as “Virtual Concepts”, in which coarse models of machinery design variants are simulated to interactively evaluate several solutions and support best design choices. Virtual concept modeling and interactive preliminary validation, along with its later integration into a virtual prototype, are expressly investigated using multi body dynamics software. A verification case study concerning a large vibrating screen is presented, in order to demonstrate that dynamic virtual concepts can enable an easier and effective interactive evaluation of the design variants, thus increasing the design process predictability. Finally, current challenges to be solved for the practical adoption of virtual concept simulations as an integral part of the industrial design process are critically discussed.},\r\n  doi       = {10.1007/s12008-015-0295-y},\r\n  keywords  = {CAD based simulation,Design process,Vibrating screen,Virtual concepts,Virtual prototyping},\r\n  publisher = {Springer Paris},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2017_3.pdf},\r\n}\r\n\r\n
\n
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\n Virtual prototyping enables the validation and optimization of mechanical devices similar to physical testing, saving time and costs in the product development, especially in case of heavy machines with complex motions. However, virtual prototyping is usually deployed only at the end of the design process, when the product architecture has already been developed. The present paper discusses the introduction of virtual prototypes since the conceptual design stage as “Virtual Concepts”, in which coarse models of machinery design variants are simulated to interactively evaluate several solutions and support best design choices. Virtual concept modeling and interactive preliminary validation, along with its later integration into a virtual prototype, are expressly investigated using multi body dynamics software. A verification case study concerning a large vibrating screen is presented, in order to demonstrate that dynamic virtual concepts can enable an easier and effective interactive evaluation of the design variants, thus increasing the design process predictability. Finally, current challenges to be solved for the practical adoption of virtual concept simulations as an integral part of the industrial design process are critically discussed.\n
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\n \n\n \n \n Vaschieri, V.; Gadaleta, M.; Bilancia, P.; Berselli, G.; and Razzoli, R.\n\n\n \n \n \n \n \n Virtual Prototyping of a Flexure-based RCC Device for Automated Assembly.\n \n \n \n \n\n\n \n\n\n\n Procedia Manufacturing, 11(June): 380–388. 2017.\n \n\n\n\n
\n\n\n\n \n \n \"VirtualPaper\n  \n \n \n \"Virtual paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J26,\r\n  author    = {Vaschieri, V. and Gadaleta, M. and Bilancia, P. and Berselli, G. and Razzoli, R.},\r\n  title     = {{Virtual Prototyping of a Flexure-based RCC Device for Automated Assembly}},\r\n  journal   = {Procedia Manufacturing},\r\n  year      = {2017},\r\n  volume    = {11},\r\n  number    = {June},\r\n  pages     = {380--388},\r\n  issn      = {23519789},\r\n  abstract  = {The actual use of Industrial Robots (IR) for assembly systems requires the exertion of suitable strategies allowing to overcome shortcomings about IR poor precision and repeatability. In this paper, the practical issues that emerge during common “peg-in-hole” assembly procedures are discussed. In particular, the use of passive Remote Center of Compliance (RCC) devices, capable of compensating the IR non-optimal performance in terms of repeatability, is investigated. The focus of the paper is the design and simulation of a flexure-based RCC that allows the prevention of jamming, due to possible positioning inaccuracies during peg insertion. The proposed RCC architecture comprises a set of flexural hinges, whose behavior is simulated via a CAE tool that provides built-in functions for modelling the motion of compliant members. For given friction coefficients of the contact surfaces, these numerical simulations allow to determine the maximum lateral and angular misalignments effectively manageable by the RCC device.},\r\n  doi       = {10.1016/j.promfg.2017.07.121},\r\n  keywords  = {Compensation Strategies,Compliant Flexures,Peg-in-hole assembly,RCC Device,Robotic assembly,Virtual Prototyping},\r\n  publisher = {The Author(s)},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://dx.doi.org/10.1016/j.promfg.2017.07.121},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2017_9.pdf},\r\n}\r\n\r\n
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\n The actual use of Industrial Robots (IR) for assembly systems requires the exertion of suitable strategies allowing to overcome shortcomings about IR poor precision and repeatability. In this paper, the practical issues that emerge during common “peg-in-hole” assembly procedures are discussed. In particular, the use of passive Remote Center of Compliance (RCC) devices, capable of compensating the IR non-optimal performance in terms of repeatability, is investigated. The focus of the paper is the design and simulation of a flexure-based RCC that allows the prevention of jamming, due to possible positioning inaccuracies during peg insertion. The proposed RCC architecture comprises a set of flexural hinges, whose behavior is simulated via a CAE tool that provides built-in functions for modelling the motion of compliant members. For given friction coefficients of the contact surfaces, these numerical simulations allow to determine the maximum lateral and angular misalignments effectively manageable by the RCC device.\n
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\n \n\n \n \n Leali, F.; Vergnano, A.; Pini, F.; Pellicciari, M.; and Berselli, G.\n\n\n \n \n \n \n \n A workcell calibration method for enhancing accuracy in robot machining of aerospace parts.\n \n \n \n \n\n\n \n\n\n\n International Journal of Advanced Manufacturing Technology, 85(1-4): 47–55. 2016.\n \n\n\n\n
\n\n\n\n \n \n \"APaper\n  \n \n \n \"A paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J25,\r\n  author    = {Leali, Francesco and Vergnano, Alberto and Pini, Fabio and Pellicciari, Marcello and Berselli, Giovanni},\r\n  title     = {{A workcell calibration method for enhancing accuracy in robot machining of aerospace parts}},\r\n  journal   = {International Journal of Advanced Manufacturing Technology},\r\n  year      = {2016},\r\n  volume    = {85},\r\n  number    = {1-4},\r\n  pages     = {47--55},\r\n  issn      = {14333015},\r\n  abstract  = {Industrial robotics provides high flexibility and reconfigurability supported by a user-friendly programming, but still lacks in accuracy. An effective workcell calibration reduces errors in robot manufacturing and enables robot machining applications. A novel workcell calibration method is embedded in an integrated design framework for an in-depth exploitation of CAD-based simulations and offline programming. The method is composed of two steps: first calibration of the workpiece-independent equipment in the workcell layout and final automated online calibration of workpiece-dependent equipment. The method is finally applied to a changeable robotic workcell for finishing aluminium cast housings for aerospace gear transmissions characterised by complex shapes and by close dimensional and geometrical specifications. Experimental results prove the method effectiveness in enhancing accuracy in robot machining. {\\textcopyright} 2014 Springer-Verlag London.},\r\n  doi       = {10.1007/s00170-014-6025-y},\r\n  keywords  = {Aerospace industry,Industrial robotics,Integrated design,Workcell calibration},\r\n  publisher = {The International Journal of Advanced Manufacturing Technology},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://dx.doi.org/10.1007/s00170-014-6025-y},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2016_3.pdf},\r\n}\r\n\r\n
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\n Industrial robotics provides high flexibility and reconfigurability supported by a user-friendly programming, but still lacks in accuracy. An effective workcell calibration reduces errors in robot manufacturing and enables robot machining applications. A novel workcell calibration method is embedded in an integrated design framework for an in-depth exploitation of CAD-based simulations and offline programming. The method is composed of two steps: first calibration of the workpiece-independent equipment in the workcell layout and final automated online calibration of workpiece-dependent equipment. The method is finally applied to a changeable robotic workcell for finishing aluminium cast housings for aerospace gear transmissions characterised by complex shapes and by close dimensional and geometrical specifications. Experimental results prove the method effectiveness in enhancing accuracy in robot machining. © 2014 Springer-Verlag London.\n
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\n \n\n \n \n Oliva, E.; Berselli, G.; Pellicciari, M.; and Andrisano, A. O.\n\n\n \n \n \n \n \n An engineering method for the power flow assessment in servo-actuated automated machinery: Mechatronic modeling and experimental evaluation.\n \n \n \n \n\n\n \n\n\n\n Robotics and Computer-Integrated Manufacturing, 38: 31–41. 2016.\n \n\n\n\n
\n\n\n\n \n \n \"AnPaper\n  \n \n \n \"An paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J24,\r\n  author    = {Oliva, Enrico and Berselli, Giovanni and Pellicciari, Marcello and Andrisano, Angelo O.},\r\n  title     = {{An engineering method for the power flow assessment in servo-actuated automated machinery: Mechatronic modeling and experimental evaluation}},\r\n  journal   = {Robotics and Computer-Integrated Manufacturing},\r\n  year      = {2016},\r\n  volume    = {38},\r\n  pages     = {31--41},\r\n  issn      = {07365845},\r\n  abstract  = {In this paper, an engineering method for the power flow assessment of a position-controlled servo-mechanism is outlined. The considered system is composed of a permanent magnet synchronous motor coupled to a standard power converter, and directly connected to a slider crank mechanism. After the accurate description of a consistent power flow model, a sequential identification technique is discussed, which allows to determine the dynamic parameters of linkage, electric motor and electronic driver by means of non-invasive experimental measures. The proposed model allows to accurately predict the major sources of power loss within the system.},\r\n  doi       = {10.1016/j.rcim.2015.09.013},\r\n  keywords  = {Design of Experiments,Power flow assessment,Servo-actuated mechanism,Virtual prototyping},\r\n  publisher = {Elsevier},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://dx.doi.org/10.1016/j.rcim.2015.09.013},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2016_5.pdf},\r\n}\r\n\r\n
\n
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\n In this paper, an engineering method for the power flow assessment of a position-controlled servo-mechanism is outlined. The considered system is composed of a permanent magnet synchronous motor coupled to a standard power converter, and directly connected to a slider crank mechanism. After the accurate description of a consistent power flow model, a sequential identification technique is discussed, which allows to determine the dynamic parameters of linkage, electric motor and electronic driver by means of non-invasive experimental measures. The proposed model allows to accurately predict the major sources of power loss within the system.\n
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\n \n\n \n \n Parvari Rad, F.; Vertechy, R.; Berselli, G.; and Parenti-Castelli, V.\n\n\n \n \n \n \n \n Analytical compliance analysis and finite element verification of spherical flexure hinges for spatial compliant mechanisms.\n \n \n \n \n\n\n \n\n\n\n Mechanism and Machine Theory, 101: 168–180. 2016.\n \n\n\n\n
\n\n\n\n \n \n \"AnalyticalPaper\n  \n \n \n \"Analytical paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J23,\r\n  author    = {{Parvari Rad}, Farid and Vertechy, Rocco and Berselli, Giovanni and Parenti-Castelli, Vincenzo},\r\n  title     = {{Analytical compliance analysis and finite element verification of spherical flexure hinges for spatial compliant mechanisms}},\r\n  journal   = {Mechanism and Machine Theory},\r\n  year      = {2016},\r\n  volume    = {101},\r\n  pages     = {168--180},\r\n  issn      = {0094114X},\r\n  abstract  = {This paper introduces and investigates a novel Spherical Flexure (SF), specifically conceived for application on spherical compliant mechanisms. The flexure features an arc of a circle as a centroidal axis and an annulus sector as cross-section, circle and annulus having a common center coinciding to that of the desired spherical motion. In this context, each element of the SF spatial compliance matrix is analytically computed as a function of both flexure dimensions and employed material. The theoretical model is then validated by relating analytical data with the results obtained through three-dimensional Finite Element Analysis. Finally, SFs are compared to Circularly Curved-Beam Flexures (CCBFs) in terms of parasitic motions.},\r\n  doi       = {10.1016/j.mechmachtheory.2016.01.010},\r\n  keywords  = {Compliance matrix,Finite Element Analysis,Parasitic motions,Spherical Flexures},\r\n  publisher = {Elsevier B.V.},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://dx.doi.org/10.1016/j.mechmachtheory.2016.01.010},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2016_2.pdf},\r\n}\r\n\r\n
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\n This paper introduces and investigates a novel Spherical Flexure (SF), specifically conceived for application on spherical compliant mechanisms. The flexure features an arc of a circle as a centroidal axis and an annulus sector as cross-section, circle and annulus having a common center coinciding to that of the desired spherical motion. In this context, each element of the SF spatial compliance matrix is analytically computed as a function of both flexure dimensions and employed material. The theoretical model is then validated by relating analytical data with the results obtained through three-dimensional Finite Element Analysis. Finally, SFs are compared to Circularly Curved-Beam Flexures (CCBFs) in terms of parasitic motions.\n
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\n \n\n \n \n Berselli, G.; Balugani, F.; Pellicciari, M.; and Gadaleta, M.\n\n\n \n \n \n \n \n Energy-optimal motions for Servo-Systems: A comparison of spline interpolants and performance indexes using a CAD-based approach.\n \n \n \n \n\n\n \n\n\n\n Robotics and Computer-Integrated Manufacturing, 40: 55–65. 2016.\n \n\n\n\n
\n\n\n\n \n \n \"Energy-optimalPaper\n  \n \n \n \"Energy-optimal paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J22,\r\n  author    = {Berselli, Giovanni and Balugani, Federico and Pellicciari, Marcello and Gadaleta, Michele},\r\n  title     = {{Energy-optimal motions for Servo-Systems: A comparison of spline interpolants and performance indexes using a CAD-based approach}},\r\n  journal   = {Robotics and Computer-Integrated Manufacturing},\r\n  year      = {2016},\r\n  volume    = {40},\r\n  pages     = {55--65},\r\n  issn      = {07365845},\r\n  abstract  = {Position-controlled Servo-Systems (SeSs) may be envisaged as a key technology to keep the manufacturing industry at the leading edge. Unfortunately, based on the current state-of-the-art, these mechatronic devices are well performing but intrinsically energy intensive, thus compromising the overall system sustainability. Therefore, traditional design and optimization paradigms, previously focused on productivity and quality improvement, should be critically reviewed so as to introduce energy efficiency as an optimality criterion alongside with the global production rate. In particular, focusing on mono-actuator systems with one degree-of-freedom, among the several design factors that can influence the SeS overall performance, the end-effector motion law can be easily modified without either hardware substitution or further investments. In this context, the purpose of the present paper is twofold. On one side, an effective method for the quick set-up of an energy-predictive CAD-based virtual prototype is discussed. In parallel, an energy comparison of some commonly employed Point-To-Point motions and optimization cost functions is provided. For what concerns the trajectory interpolation scheme, a standard optimization problem based on the aforementioned virtual model is solved by means of either algebraic or trigonometric splines. For what concerns the optimality criterion, either the system energy consumption or the root-means square value of the actuator torque are taken into account. In general, torque-based approaches, which may be preferred since they do not require a full knowledge of the SeS electrical parameters, can be effectively employed only when friction effects are negligible as compared to purely inertial loads. In parallel, cubic algebraic splines outperform other types of trajectories, although losing continuity of the resulting jerk profile.},\r\n  doi       = {10.1016/j.rcim.2016.01.003},\r\n  keywords  = {CAD/MBD tools,Eco-Design methods,Servo-Systems,Trajectory comparison,Virtual prototyping},\r\n  publisher = {Elsevier},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://dx.doi.org/10.1016/j.rcim.2016.01.003},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2016_1.pdf},\r\n}\r\n\r\n
\n
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\n Position-controlled Servo-Systems (SeSs) may be envisaged as a key technology to keep the manufacturing industry at the leading edge. Unfortunately, based on the current state-of-the-art, these mechatronic devices are well performing but intrinsically energy intensive, thus compromising the overall system sustainability. Therefore, traditional design and optimization paradigms, previously focused on productivity and quality improvement, should be critically reviewed so as to introduce energy efficiency as an optimality criterion alongside with the global production rate. In particular, focusing on mono-actuator systems with one degree-of-freedom, among the several design factors that can influence the SeS overall performance, the end-effector motion law can be easily modified without either hardware substitution or further investments. In this context, the purpose of the present paper is twofold. On one side, an effective method for the quick set-up of an energy-predictive CAD-based virtual prototype is discussed. In parallel, an energy comparison of some commonly employed Point-To-Point motions and optimization cost functions is provided. For what concerns the trajectory interpolation scheme, a standard optimization problem based on the aforementioned virtual model is solved by means of either algebraic or trigonometric splines. For what concerns the optimality criterion, either the system energy consumption or the root-means square value of the actuator torque are taken into account. In general, torque-based approaches, which may be preferred since they do not require a full knowledge of the SeS electrical parameters, can be effectively employed only when friction effects are negligible as compared to purely inertial loads. In parallel, cubic algebraic splines outperform other types of trajectories, although losing continuity of the resulting jerk profile.\n
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\n \n\n \n \n Berselli, G.; Meng, Q.; Vertechy, R.; and Castelli, V. P.\n\n\n \n \n \n \n \n An improved design method for the dimensional synthesis of flexure-based compliant mechanisms: optimization procedure and experimental validation.\n \n \n \n \n\n\n \n\n\n\n Meccanica, 51(5): 1209–1225. 2016.\n \n\n\n\n
\n\n\n\n \n \n \"An paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
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@Article{J21,\r\n  author    = {Berselli, Giovanni and Meng, Qiaoling and Vertechy, Rocco and Castelli, Vincenzo Parenti},\r\n  title     = {{An improved design method for the dimensional synthesis of flexure-based compliant mechanisms: optimization procedure and experimental validation}},\r\n  journal   = {Meccanica},\r\n  year      = {2016},\r\n  volume    = {51},\r\n  number    = {5},\r\n  pages     = {1209--1225},\r\n  issn      = {15729648},\r\n  abstract  = {Monolithic Flexure-based Compliant Mechanisms (MFCM) can be used to conceive nonlinear springs with a desired load-displacement profile at one point of their structure. For a given MFCM topology, these particular springs can be conveniently dimensioned by resorting to the well-known Pseudo-Rigid-Body approximation, whose accuracy strongly depends on the modelling precision of the flexures' principal compliance. For various types of flexures, closed-form solutions have been proposed, which express the compliance factors as functions of the flexure dimensions. Nonetheless, the accuracy of these relations is limited to slender, beam-like hinges undergoing rather small deflections. In order to overcome such limitations, this paper provides empirical equations, derived from finite element analysis, that can be used for the optimal dimensioning of circular, elliptical, and corner-filleted flexural hinges with general aspect ratios, on the basis of both principal compliance and maximum bearable stress. At first, an accuracy comparison with previously published results is provided. Then, as a case study, a nonlinear spring based on a double slider-crank MFCM and with a desired load-displacement profile is dimensioned and verified via finite element analysis. The corresponding MFCM prototype, produced by means of water jet cutting, is finally tested on a tensile stage. Both numerical and experimental results confirm that the aforementioned empirical equations outperform the closed-form solutions provided in the past literature when modelling thick cross-section hinges undergoing significant deflections.},\r\n  doi       = {10.1007/s11012-015-0276-z},\r\n  keywords  = {Compliant mechanisms,Design methods,Finite element analysis,Flexural hinges,Pseudo-rigid-body model},\r\n  publisher = {Springer Netherlands},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2016_4.pdf},\r\n}\r\n\r\n
\n
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\n Monolithic Flexure-based Compliant Mechanisms (MFCM) can be used to conceive nonlinear springs with a desired load-displacement profile at one point of their structure. For a given MFCM topology, these particular springs can be conveniently dimensioned by resorting to the well-known Pseudo-Rigid-Body approximation, whose accuracy strongly depends on the modelling precision of the flexures' principal compliance. For various types of flexures, closed-form solutions have been proposed, which express the compliance factors as functions of the flexure dimensions. Nonetheless, the accuracy of these relations is limited to slender, beam-like hinges undergoing rather small deflections. In order to overcome such limitations, this paper provides empirical equations, derived from finite element analysis, that can be used for the optimal dimensioning of circular, elliptical, and corner-filleted flexural hinges with general aspect ratios, on the basis of both principal compliance and maximum bearable stress. At first, an accuracy comparison with previously published results is provided. Then, as a case study, a nonlinear spring based on a double slider-crank MFCM and with a desired load-displacement profile is dimensioned and verified via finite element analysis. The corresponding MFCM prototype, produced by means of water jet cutting, is finally tested on a tensile stage. Both numerical and experimental results confirm that the aforementioned empirical equations outperform the closed-form solutions provided in the past literature when modelling thick cross-section hinges undergoing significant deflections.\n
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\n \n\n \n \n Pellicciari, M.; Berselli, G.; and Balugani, F.\n\n\n \n \n \n \n \n On Designing Optimal Trajectories for Servo-Actuated Mechanisms: Detailed Virtual Prototyping and Experimental Evaluation.\n \n \n \n \n\n\n \n\n\n\n IEEE/ASME Transactions on Mechatronics, 20(5): 2039–2052. 2015.\n \n\n\n\n
\n\n\n\n \n \n \"On paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J20,\r\n  author    = {Pellicciari, Marcello and Berselli, Giovanni and Balugani, Federico},\r\n  title     = {{On Designing Optimal Trajectories for Servo-Actuated Mechanisms: Detailed Virtual Prototyping and Experimental Evaluation}},\r\n  journal   = {IEEE/ASME Transactions on Mechatronics},\r\n  year      = {2015},\r\n  volume    = {20},\r\n  number    = {5},\r\n  pages     = {2039--2052},\r\n  issn      = {10834435},\r\n  abstract  = {{\\textcopyright} 1996-2012 IEEE. Programmable servo-actuated mechanisms can enhance the flexibility and the reconfigurability of modern manufacturing systems. Differently from fully mechanical design solutions (such as mechanical cams) and especially in the case of high-dynamic motions, servomechanism performance depends on several interacting factors, namely electric motor and linkage dynamics, controller efficacy, and requested motion law. In particular, point-to-point (PTP) trajectories are usually designed in order to comply with technological constraints, imposed by the required interaction with the handled product, and to maximize some optimality criterion such as, for instance, energy efficiency or limited actuation torques. In this context, the present paper proposes a novel method for designing energy and peak-power optimal PTP motions. A standard optimization problem is solved by means of either cubic or quintic splines. Nonetheless, differently from previous approaches, the optimization cost functions are based on a virtual prototype of the system, which comprises behavioral models of power converter, controller, and electric motor coupled with the mechanical system. Results are then compared with experimental data obtained on a physical prototype. The comparison quantitatively shows that better-behaved PTP trajectories can be designed by including the dynamic contribution of each subsystem component.},\r\n  doi       = {10.1109/TMECH.2014.2361759},\r\n  keywords  = {Electronic cams,high-speed machinery,intelligent manufacturing,mechatronic design methods,trajectory generation,virtual prototyping},\r\n  publisher = {IEEE},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2015_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n © 1996-2012 IEEE. Programmable servo-actuated mechanisms can enhance the flexibility and the reconfigurability of modern manufacturing systems. Differently from fully mechanical design solutions (such as mechanical cams) and especially in the case of high-dynamic motions, servomechanism performance depends on several interacting factors, namely electric motor and linkage dynamics, controller efficacy, and requested motion law. In particular, point-to-point (PTP) trajectories are usually designed in order to comply with technological constraints, imposed by the required interaction with the handled product, and to maximize some optimality criterion such as, for instance, energy efficiency or limited actuation torques. In this context, the present paper proposes a novel method for designing energy and peak-power optimal PTP motions. A standard optimization problem is solved by means of either cubic or quintic splines. Nonetheless, differently from previous approaches, the optimization cost functions are based on a virtual prototype of the system, which comprises behavioral models of power converter, controller, and electric motor coupled with the mechanical system. Results are then compared with experimental data obtained on a physical prototype. The comparison quantitatively shows that better-behaved PTP trajectories can be designed by including the dynamic contribution of each subsystem component.\n
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\n \n\n \n \n Berselli, G.; Tan, X.; and Vertechy, R.\n\n\n \n \n \n \n \n Soft mechatronics: an emerging design paradigm for the conception of intrinsically compliant electro-mechanical systems.\n \n \n \n \n\n\n \n\n\n\n Meccanica, 50(11): 2661–2662. 2015.\n \n\n\n\n
\n\n\n\n \n \n \"Soft paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Article{J19,\r\n  author    = {Berselli, Giovanni and Tan, Xiaobo and Vertechy, Rocco},\r\n  title     = {{Soft mechatronics: an emerging design paradigm for the conception of intrinsically compliant electro-mechanical systems}},\r\n  journal   = {Meccanica},\r\n  year      = {2015},\r\n  volume    = {50},\r\n  number    = {11},\r\n  pages     = {2661--2662},\r\n  issn      = {00256455},\r\n  doi       = {10.1007/s11012-015-0307-9},\r\n  publisher = {Springer Netherlands},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2015_1.pdf},\r\n}\r\n\r\n
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\n \n\n \n \n Berselli, G.; Guerra, A.; Vassura, G.; and Andrisano, A. O.\n\n\n \n \n \n \n \n An engineering method for comparing selectively compliant joints in robotic structures.\n \n \n \n \n\n\n \n\n\n\n IEEE/ASME Transactions on Mechatronics, 19(6): 1882–1895. 2014.\n \n\n\n\n
\n\n\n\n \n \n \"An paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J18,\r\n  author    = {Berselli, Giovanni and Guerra, Alessandro and Vassura, Gabriele and Andrisano, Angelo Oreste},\r\n  title     = {{An engineering method for comparing selectively compliant joints in robotic structures}},\r\n  journal   = {IEEE/ASME Transactions on Mechatronics},\r\n  year      = {2014},\r\n  volume    = {19},\r\n  number    = {6},\r\n  pages     = {1882--1895},\r\n  issn      = {10834435},\r\n  abstract  = {Large displacement compliant joints can substitute traditional kinematic pairs in robotic articulated structures for increasing ease-of-assembly, robustness, and safety. Nonetheless, besides their limited motion capabilities, compliant joints might be subjected to undesired spatial deformations which can deteriorate the system stability and performance whenever a low number of control inputs is available. In all these cases, it is convenient to select/design joint morphologies which enable a selectively compliant behavior, i.e., a low stiffness along a single desired direction. Within this context, this paper outlines an engineering method for quantifying the joint's selective compliance by means of local and global performance indices. The approach is validated by comparing two beam-like flexures whose analytic solution is known from the literature. Finally, two joint morphologies, previously employed in the fabrication of robotic/prosthetic hands, are critically compared on the basis of the proposed criteria. {\\textcopyright} 1996-2012 IEEE.},\r\n  doi       = {10.1109/TMECH.2014.2315508},\r\n  keywords  = {Design criteria,large displacement compliant joints,performance evaluation},\r\n  publisher = {IEEE},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2014_3.pdf},\r\n}\r\n\r\n
\n
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\n Large displacement compliant joints can substitute traditional kinematic pairs in robotic articulated structures for increasing ease-of-assembly, robustness, and safety. Nonetheless, besides their limited motion capabilities, compliant joints might be subjected to undesired spatial deformations which can deteriorate the system stability and performance whenever a low number of control inputs is available. In all these cases, it is convenient to select/design joint morphologies which enable a selectively compliant behavior, i.e., a low stiffness along a single desired direction. Within this context, this paper outlines an engineering method for quantifying the joint's selective compliance by means of local and global performance indices. The approach is validated by comparing two beam-like flexures whose analytic solution is known from the literature. Finally, two joint morphologies, previously employed in the fabrication of robotic/prosthetic hands, are critically compared on the basis of the proposed criteria. © 1996-2012 IEEE.\n
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\n \n\n \n \n Berselli, G.; Mammano, G. S.; and Dragoni, E.\n\n\n \n \n \n \n \n Design of a Dielectric Elastomer Cylindrical Actuator With Quasi-Constant Available Thrust: Modeling Procedure and Experimental Validation.\n \n \n \n \n\n\n \n\n\n\n Journal of Mechanical Design, 136(12): 125001. 2014.\n \n\n\n\n
\n\n\n\n \n \n \"Design paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Article{J17,\r\n  author    = {Berselli, Giovanni and Mammano, Giovanni Scir{\\`{e}} and Dragoni, Eugenio},\r\n  title     = {{Design of a Dielectric Elastomer Cylindrical Actuator With Quasi-Constant Available Thrust: Modeling Procedure and Experimental Validation}},\r\n  journal   = {Journal of Mechanical Design},\r\n  year      = {2014},\r\n  volume    = {136},\r\n  number    = {12},\r\n  pages     = {125001},\r\n  issn      = {1050-0472},\r\n  abstract  = {A novel design for a dielectric elastomer (DE) actuator is presented. The actuator is obtained by coupling a cylindrical DE film with a series of slender beams axially loaded beyond their buckling limit. Similar to previous published solutions, where different actuator geometries were coupled with compliant mechanisms of various topologies, the elastic beams are designed so as to provide a suitable compensating force that allows obtaining a quasi-constant available thrust along the entire actuator stroke. Whilst the elastic beam are sized on the basis of an analytical procedure, the overall system performance is evaluated by means of multiphysics finite element (FE) analysis, accounting for the large deflection of the buckled-beam springs (BBSs) and for the DE material hyperelasticity. Numerical and experimental results are finally provided, which demonstrate the prediction capabilities of the proposed modeling method and confirm that well-behaved cylindrical actuators can be conceived and produced.},\r\n  doi       = {10.1115/1.4028277},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2014_1.pdf},\r\n}\r\n\r\n
\n
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\n A novel design for a dielectric elastomer (DE) actuator is presented. The actuator is obtained by coupling a cylindrical DE film with a series of slender beams axially loaded beyond their buckling limit. Similar to previous published solutions, where different actuator geometries were coupled with compliant mechanisms of various topologies, the elastic beams are designed so as to provide a suitable compensating force that allows obtaining a quasi-constant available thrust along the entire actuator stroke. Whilst the elastic beam are sized on the basis of an analytical procedure, the overall system performance is evaluated by means of multiphysics finite element (FE) analysis, accounting for the large deflection of the buckled-beam springs (BBSs) and for the DE material hyperelasticity. Numerical and experimental results are finally provided, which demonstrate the prediction capabilities of the proposed modeling method and confirm that well-behaved cylindrical actuators can be conceived and produced.\n
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\n \n\n \n \n Meike, D.; Pellicciari, M.; and Berselli, G.\n\n\n \n \n \n \n \n Energy efficient use of multirobot production lines in the automotive industry: Detailed system modeling and optimization.\n \n \n \n \n\n\n \n\n\n\n IEEE Transactions on Automation Science and Engineering, 11(3): 798–809. 2014.\n \n\n\n\n
\n\n\n\n \n \n \"Energy paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J16,\r\n  author    = {Meike, Davis and Pellicciari, Marcello and Berselli, Giovanni},\r\n  title     = {{Energy efficient use of multirobot production lines in the automotive industry: Detailed system modeling and optimization}},\r\n  journal   = {IEEE Transactions on Automation Science and Engineering},\r\n  year      = {2014},\r\n  volume    = {11},\r\n  number    = {3},\r\n  pages     = {798--809},\r\n  issn      = {15455955},\r\n  abstract  = {This paper quantitatively reports about potential energy savings on robotic assembly lines for the automotive industry. At first, a detailed system model is described, which improves previously published results by explicitly considering both manipulator and electrical drive dynamics. The model closely captures experimental data in terms of actuation torques and servodrive voltages, which are directly used to derive the plant input power. Two practical methods are then evaluated for reducing the overall energy consumption. The methods rely on: 1) implementation of energy-optimal trajectories obtained by means of time scaling, concerning the robots' motion from the last process point to the home positions and 2) reduction of energy consumption by releasing the actuator brakes earlier when the robots are kept stationary. Simulation results, based on the production timing characteristics measured at a real plant, clearly shows that the system energy consumption can be effectively reduced without negative effects on the production rate. {\\textcopyright} 2004-2012 IEEE.},\r\n  doi       = {10.1109/TASE.2013.2285813},\r\n  keywords  = {Energy efficient robotics,robotic manufacturing,trajectory planning,virtual prototyping},\r\n  publisher = {IEEE},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2014_2.pdf},\r\n}\r\n\r\n
\n
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\n This paper quantitatively reports about potential energy savings on robotic assembly lines for the automotive industry. At first, a detailed system model is described, which improves previously published results by explicitly considering both manipulator and electrical drive dynamics. The model closely captures experimental data in terms of actuation torques and servodrive voltages, which are directly used to derive the plant input power. Two practical methods are then evaluated for reducing the overall energy consumption. The methods rely on: 1) implementation of energy-optimal trajectories obtained by means of time scaling, concerning the robots' motion from the last process point to the home positions and 2) reduction of energy consumption by releasing the actuator brakes earlier when the robots are kept stationary. Simulation results, based on the production timing characteristics measured at a real plant, clearly shows that the system energy consumption can be effectively reduced without negative effects on the production rate. © 2004-2012 IEEE.\n
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\n \n\n \n \n Palli, G.; Melchiorri, C.; Vassura, G.; Scarcia, U.; Moriello, L.; Berselli, G.; Cavallo, A.; De Maria, G.; Natale, C.; Pirozzi, S.; May, C.; Ficuciello, F.; and Siciliano, B.\n\n\n \n \n \n \n \n The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping.\n \n \n \n \n\n\n \n\n\n\n International Journal of Robotics Research, 33(5): 799–824. 2014.\n \n\n\n\n
\n\n\n\n \n \n \"The paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J15,\r\n  author    = {Palli, G. and Melchiorri, C. and Vassura, G. and Scarcia, U. and Moriello, L. and Berselli, G. and Cavallo, A. and {De Maria}, G. and Natale, C. and Pirozzi, S. and May, C. and Ficuciello, F. and Siciliano, B.},\r\n  title     = {{The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping}},\r\n  journal   = {International Journal of Robotics Research},\r\n  year      = {2014},\r\n  volume    = {33},\r\n  number    = {5},\r\n  pages     = {799--824},\r\n  issn      = {17413176},\r\n  abstract  = {This paper summarizes recent activities carried out for the development of an innovative anthropomorphic robotic hand called the DEXMART Hand. The main goal of this research is to face the problems that affect current robotic hands by introducing suitable design solutions aimed at achieving simplification and cost reduction while possibly enhancing robustness and performance. While certain aspects of the DEXMART Hand development have been presented in previous papers, this paper is the first to give a comprehensive description of the final hand version and its use to replicate human-like grasping. In this paper, particular emphasis is placed on the kinematics of the fingers and of the thumb, the wrist architecture, the dimensioning of the actuation system, and the final implementation of the position, force and tactile sensors. The paper focuses also on how these solutions have been integrated into the mechanical structure of this innovative robotic hand to enable precise force and displacement control of the whole system.Another important aspect is the lack of suitable control tools that severely limits the development of robotic hand applications. To address this issue, a new method for the observation of human hand behavior during interaction with common day-to-day objects by means of a 3D computer vision system is presented in this work together with a strategy for mapping human hand postures to the robotic hand. A simple control strategy based on postural synergies has been used to reduce the complexity of the grasp planning problem. As a preliminary evaluation of the DEXMART Hand's capabilities, this approach has been adopted in this paper to simplify and speed up the transfer of human actions to the robotic hand, showing its effectiveness in reproducing human-like grasping. ? The Author(s) 2014.},\r\n  doi       = {10.1177/0278364913519897},\r\n  keywords  = {Robotic hands,grasping,mechatronic design,optoelectronic sensors,postural synergies,tendon transmission,twisted string},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2014_4.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n This paper summarizes recent activities carried out for the development of an innovative anthropomorphic robotic hand called the DEXMART Hand. The main goal of this research is to face the problems that affect current robotic hands by introducing suitable design solutions aimed at achieving simplification and cost reduction while possibly enhancing robustness and performance. While certain aspects of the DEXMART Hand development have been presented in previous papers, this paper is the first to give a comprehensive description of the final hand version and its use to replicate human-like grasping. In this paper, particular emphasis is placed on the kinematics of the fingers and of the thumb, the wrist architecture, the dimensioning of the actuation system, and the final implementation of the position, force and tactile sensors. The paper focuses also on how these solutions have been integrated into the mechanical structure of this innovative robotic hand to enable precise force and displacement control of the whole system.Another important aspect is the lack of suitable control tools that severely limits the development of robotic hand applications. To address this issue, a new method for the observation of human hand behavior during interaction with common day-to-day objects by means of a 3D computer vision system is presented in this work together with a strategy for mapping human hand postures to the robotic hand. A simple control strategy based on postural synergies has been used to reduce the complexity of the grasp planning problem. As a preliminary evaluation of the DEXMART Hand's capabilities, this approach has been adopted in this paper to simplify and speed up the transfer of human actions to the robotic hand, showing its effectiveness in reproducing human-like grasping. ? The Author(s) 2014.\n
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\n \n\n \n \n Vertechy, R.; Berselli, G.; Parenti Castelli, V.; and Bergamasco, M.\n\n\n \n \n \n \n \n Continuum thermo-electro-mechanical model for electrostrictive elastomers.\n \n \n \n \n\n\n \n\n\n\n Journal of Intelligent Material Systems and Structures, 24(6): 761–778. apr 2013.\n \n\n\n\n
\n\n\n\n \n \n \"ContinuumPaper\n  \n \n \n \"Continuum paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J14,\r\n  author    = {Vertechy, Rocco and Berselli, Giovanni and {Parenti Castelli}, Vincenzo and Bergamasco, Massimo},\r\n  title     = {{Continuum thermo-electro-mechanical model for electrostrictive elastomers}},\r\n  journal   = {Journal of Intelligent Material Systems and Structures},\r\n  year      = {2013},\r\n  volume    = {24},\r\n  number    = {6},\r\n  pages     = {761--778},\r\n  month     = {apr},\r\n  issn      = {1045-389X},\r\n  abstract  = {This article presents a finite-deformation fully-coupled thermo-electro-elastic continuum model that is suited for the analysis, design, and control of solid-state transduction devices based on electrostrictive elastomers. In the model, electrostrictive elastomers are considered as isotropic modified-entropic hyperelastic dielectrics that deform in response to a simultaneous combination of electrical, thermal, and mechanical stimuli. The model is thermodynamically consistent and comprises general balance equations, which do not require the postulation of any force or stress tensor of electrical origin, together with phenomenological invariant-based constitutive relations, which necessitate the minimum number of material parameters t o be determined via experimental tests only. Comparison with existing theories and experimental results are provided that validate the proposed thermo-electro-elastic model. {\\textcopyright} The Author(s) 2012.},\r\n  doi       = {10.1177/1045389X12455855},\r\n  editor    = {Elahinia, Mohammad},\r\n  keywords  = {Electroactive polymers,actuator,dielectric elastomers,electrostrictive,thermo-electro-elasticity},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://journals.sagepub.com/doi/10.1177/1045389X12455855},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2013_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n This article presents a finite-deformation fully-coupled thermo-electro-elastic continuum model that is suited for the analysis, design, and control of solid-state transduction devices based on electrostrictive elastomers. In the model, electrostrictive elastomers are considered as isotropic modified-entropic hyperelastic dielectrics that deform in response to a simultaneous combination of electrical, thermal, and mechanical stimuli. The model is thermodynamically consistent and comprises general balance equations, which do not require the postulation of any force or stress tensor of electrical origin, together with phenomenological invariant-based constitutive relations, which necessitate the minimum number of material parameters t o be determined via experimental tests only. Comparison with existing theories and experimental results are provided that validate the proposed thermo-electro-elastic model. © The Author(s) 2012.\n
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\n \n\n \n \n Pellicciari, M.; Berselli, G.; Leali, F.; and Vergnano, A.\n\n\n \n \n \n \n \n A method for reducing the energy consumption of pick-and-place industrial robots.\n \n \n \n \n\n\n \n\n\n\n Mechatronics, 23(3): 326–334. apr 2013.\n \n\n\n\n
\n\n\n\n \n \n \"APaper\n  \n \n \n \"A paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J13,\r\n  author    = {Pellicciari, M. and Berselli, G. and Leali, F. and Vergnano, A.},\r\n  title     = {{A method for reducing the energy consumption of pick-and-place industrial robots}},\r\n  journal   = {Mechatronics},\r\n  year      = {2013},\r\n  volume    = {23},\r\n  number    = {3},\r\n  pages     = {326--334},\r\n  month     = {apr},\r\n  issn      = {09574158},\r\n  abstract  = {The interest in novel methods and tools for opt imizing the energy consumption in robotic systems is cur- rently increasing. From an industrial point of view, it is desirable to develop energy saving strategies also applicable to established manufacturing systems with no need for either hardware substitu tion or further investme nts. Within this scenario, the present paper reports a method for reducing the total energy con- sumption of pick-and-place manipulators for given TCP position profiles. Firstly, electromechanical mod- els of both serial and parallel manipulators are derive d. Then, the energy-optimal trajectories are calculated, by means of constant time scaling, starting from pre-scheduled trajectories comp atible with the actuation limits. In this manner, the robot work cycle can be energetically optimized also when the TCP position profiles have been already defined on the basis of technological constraints and/or design choices aimed at guarante eing manufacturing process efficacy/robustness. The effectiveness of the pro- posed procedure is finally evaluated on two simulation case studies.},\r\n  doi       = {10.1016/j.mechatronics.2013.01.013},\r\n  isbn      = {3358092364},\r\n  keywords  = {Electromechanical modeling,Energy efficiency,Robotic manufacturing,Virtual prototyping},\r\n  type      = {(A) Journal Papers},\r\n  url       = {https://linkinghub.elsevier.com/retrieve/pii/S0957415813000263},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2013_4.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n The interest in novel methods and tools for opt imizing the energy consumption in robotic systems is cur- rently increasing. From an industrial point of view, it is desirable to develop energy saving strategies also applicable to established manufacturing systems with no need for either hardware substitu tion or further investme nts. Within this scenario, the present paper reports a method for reducing the total energy con- sumption of pick-and-place manipulators for given TCP position profiles. Firstly, electromechanical mod- els of both serial and parallel manipulators are derive d. Then, the energy-optimal trajectories are calculated, by means of constant time scaling, starting from pre-scheduled trajectories comp atible with the actuation limits. In this manner, the robot work cycle can be energetically optimized also when the TCP position profiles have been already defined on the basis of technological constraints and/or design choices aimed at guarante eing manufacturing process efficacy/robustness. The effectiveness of the pro- posed procedure is finally evaluated on two simulation case studies.\n
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\n \n\n \n \n Melchiorri, C.; Palli, G.; Berselli, G.; and Vassura, G.\n\n\n \n \n \n \n \n Development of the UB hand IV: Overview of design solutions and enabling technologies.\n \n \n \n \n\n\n \n\n\n\n IEEE Robotics and Automation Magazine, 20(3): 72–81. 2013.\n \n\n\n\n
\n\n\n\n \n \n \"Development paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Article{J12,\r\n  author    = {Melchiorri, Claudio and Palli, Gianluca and Berselli, Giovanni and Vassura, Gabriele},\r\n  title     = {{Development of the UB hand IV: Overview of design solutions and enabling technologies}},\r\n  journal   = {IEEE Robotics and Automation Magazine},\r\n  year      = {2013},\r\n  volume    = {20},\r\n  number    = {3},\r\n  pages     = {72--81},\r\n  issn      = {10709932},\r\n  abstract  = {The replication of the human hand's functionality and appearance is one of the main reasons for the development of robot hands. Despite 40 years of research in the field [1], the reproduction of human capabilities, in terms of dexterous manipulation, still seems unachievable by the state-of-the-art technologies. From a design perspective, even defining the optimal functionalities of a robotic end-effector is quite a challenging task since possible applications of these devices span industrial robotics, humanoid robotics, rehabilitation medicines, and prosthetics, to name a few. Therefore, it is reasonable to think that the design solutions, which are well suited to a single domain, might not be readily taken as general guidelines. For example, industrial manipulators are often equipped with basic grippers, which are conceived so as to increase the throughput and the reliability, and are assumed to operate in structured environments. In this case, the enhanced manipulation skills and the subsequent cost increases must be carefully motivated by the application requirements. {\\textcopyright} 2013 IEEE.},\r\n  doi       = {10.1109/MRA.2012.2225471},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2013_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n The replication of the human hand's functionality and appearance is one of the main reasons for the development of robot hands. Despite 40 years of research in the field [1], the reproduction of human capabilities, in terms of dexterous manipulation, still seems unachievable by the state-of-the-art technologies. From a design perspective, even defining the optimal functionalities of a robotic end-effector is quite a challenging task since possible applications of these devices span industrial robotics, humanoid robotics, rehabilitation medicines, and prosthetics, to name a few. Therefore, it is reasonable to think that the design solutions, which are well suited to a single domain, might not be readily taken as general guidelines. For example, industrial manipulators are often equipped with basic grippers, which are conceived so as to increase the throughput and the reliability, and are assumed to operate in structured environments. In this case, the enhanced manipulation skills and the subsequent cost increases must be carefully motivated by the application requirements. © 2013 IEEE.\n
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\n \n\n \n \n Renzi, C.; Leali, F.; Pellicciari, M.; Andrisano, A. O.; and Berselli, G.\n\n\n \n \n \n \n \n Selecting alternatives in the conceptual design phase: an application of Fuzzy-AHP and Pugh's Controlled Convergence.\n \n \n \n \n\n\n \n\n\n\n International Journal on Interactive Design and Manufacturing, 9(1): 1–17. 2013.\n \n\n\n\n
\n\n\n\n \n \n \"Selecting paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J11,\r\n  author    = {Renzi, C. and Leali, F. and Pellicciari, M. and Andrisano, A. O. and Berselli, G.},\r\n  title     = {{Selecting alternatives in the conceptual design phase: an application of Fuzzy-AHP and Pugh's Controlled Convergence}},\r\n  journal   = {International Journal on Interactive Design and Manufacturing},\r\n  year      = {2013},\r\n  volume    = {9},\r\n  number    = {1},\r\n  pages     = {1--17},\r\n  issn      = {19552505},\r\n  abstract  = {The selection of conceptual design alternatives is crucial in product development. This is due both to the fact that an iterative process is required to solve the problem and that communication among design team members should be optimized. In addition, several design constraints need to be respected. Although the literature offers several alternative selection methods, to date, only very few are currently being used in industry. A comparison of the various approaches would improve the knowledge transfer between design research and practice, helping practitioners to approach these decision support tools more effectively. This paper proposes a structured comparison of two decision support methods, namely the Fuzzy-Analytic Hierarchy Process and Pugh's Controlled Convergence. From the literature debate regarding selection methods, four relevant criteria are identified: computational effort, suitability for the early design stages, suitability for group decision making, and ease of application. Finally a sensitivity analysis is proposed to test the robustness of each method. An industrial case study is described regarding an innovative and low-cost solution to increase the duration of heel tips in women's shoes. The selection of conceptual design alternatives of the heel tip presents complex challenges because of the extremely difficult geometric constraints and demanding design criteria.},\r\n  doi       = {10.1007/s12008-013-0187-y},\r\n  keywords  = {Concept selection,Engineering design methods,Fuzzy-analytic hierarchy process,Pugh's controlled convergence},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2013_5.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n The selection of conceptual design alternatives is crucial in product development. This is due both to the fact that an iterative process is required to solve the problem and that communication among design team members should be optimized. In addition, several design constraints need to be respected. Although the literature offers several alternative selection methods, to date, only very few are currently being used in industry. A comparison of the various approaches would improve the knowledge transfer between design research and practice, helping practitioners to approach these decision support tools more effectively. This paper proposes a structured comparison of two decision support methods, namely the Fuzzy-Analytic Hierarchy Process and Pugh's Controlled Convergence. From the literature debate regarding selection methods, four relevant criteria are identified: computational effort, suitability for the early design stages, suitability for group decision making, and ease of application. Finally a sensitivity analysis is proposed to test the robustness of each method. An industrial case study is described regarding an innovative and low-cost solution to increase the duration of heel tips in women's shoes. The selection of conceptual design alternatives of the heel tip presents complex challenges because of the extremely difficult geometric constraints and demanding design criteria.\n
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\n \n\n \n \n Vertechy, R.; Bergamasco, M.; Berselli, G.; Parenti Castelli, V.; and Vassura, G.\n\n\n \n \n \n \n \n Compliant actuation based on dielectric elastomers for a force-feedback device: Modeling and experimental evaluation.\n \n \n \n \n\n\n \n\n\n\n Frattura ed Integrita Strutturale, 23: 47–56. 2013.\n \n\n\n\n
\n\n\n\n \n \n \"Compliant paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
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@Article{J10,\r\n  author    = {Vertechy, R. and Bergamasco, M. and Berselli, G. and {Parenti Castelli}, V. and Vassura, G.},\r\n  title     = {{Compliant actuation based on dielectric elastomers for a force-feedback device: Modeling and experimental evaluation}},\r\n  journal   = {Frattura ed Integrita Strutturale},\r\n  year      = {2013},\r\n  volume    = {23},\r\n  pages     = {47--56},\r\n  issn      = {19718993},\r\n  abstract  = {Thanks to their large power densities, low costs and shock-insensitivity, Dielectric Elastomers (DE) seem to be a promising technology for the implementation of light and compact force-feedback devices such as, for instance, haptic interfaces. Nonetheless, the development of these kinds of DE-based systems is not trivial owing to the relevant dissipative phenomena that affect the DE when subjected to rapidly changing deformations. In this context, the present paper addresses the development of a force feedback controller for an agonist-antagonist linear actuator composed of a couple of conically-shaped DE films and a compliant mechanism behaving as a negative-rate bias spring. The actuator is firstly modeled accounting for the viscohyperelastic nature of the DE material. The model is then linearized and employed for the design of a force controller. The controller employs a position sensor, which determines the actuator configuration, and a force sensor, which measures the interaction force that the actuator exchanges with the environment. In addition, an optimum full-state observer is also implemented, which enables both accurate estimation of the time-dependent behavior of the elastomeric material and adequate suppression of the sensor measurement noise. Preliminary experimental results are provided to validate the proposed actuator-controller architecture.},\r\n  doi       = {10.3221/IGF-ESIS.23.05},\r\n  keywords  = {Agonist-antagonist actuation,Dielectric elastomers,Force-feedback control,Haptic interfaces},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2013_6.pdf},\r\n}\r\n\r\n
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\n Thanks to their large power densities, low costs and shock-insensitivity, Dielectric Elastomers (DE) seem to be a promising technology for the implementation of light and compact force-feedback devices such as, for instance, haptic interfaces. Nonetheless, the development of these kinds of DE-based systems is not trivial owing to the relevant dissipative phenomena that affect the DE when subjected to rapidly changing deformations. In this context, the present paper addresses the development of a force feedback controller for an agonist-antagonist linear actuator composed of a couple of conically-shaped DE films and a compliant mechanism behaving as a negative-rate bias spring. The actuator is firstly modeled accounting for the viscohyperelastic nature of the DE material. The model is then linearized and employed for the design of a force controller. The controller employs a position sensor, which determines the actuator configuration, and a force sensor, which measures the interaction force that the actuator exchanges with the environment. In addition, an optimum full-state observer is also implemented, which enables both accurate estimation of the time-dependent behavior of the elastomeric material and adequate suppression of the sensor measurement noise. Preliminary experimental results are provided to validate the proposed actuator-controller architecture.\n
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\n \n\n \n \n Berselli, G.; Vertechy, R.; Babič, M.; and Parenti Castelli, V.\n\n\n \n \n \n \n \n Dynamic modeling and experimental evaluation of a constant-force dielectric elastomer actuator.\n \n \n \n \n\n\n \n\n\n\n Journal of Intelligent Material Systems and Structures, 24(6): 779–791. 2013.\n \n\n\n\n
\n\n\n\n \n \n \"Dynamic paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J9,\r\n  author    = {Berselli, Giovanni and Vertechy, Rocco and Babi{\\v{c}}, Mitja and {Parenti Castelli}, Vincenzo},\r\n  title     = {{Dynamic modeling and experimental evaluation of a constant-force dielectric elastomer actuator}},\r\n  journal   = {Journal of Intelligent Material Systems and Structures},\r\n  year      = {2013},\r\n  volume    = {24},\r\n  number    = {6},\r\n  pages     = {779--791},\r\n  issn      = {1045389X},\r\n  abstract  = {Constant-force actuators based on dielectric elastomers can be obtained by coupling a dielectric elastomer film with particular compliant frames whose structural properties must be carefully designed. In any case, the practical achievement of a desired force profile can be quite a challenging task owing to the time-dependent phenomena, which affect the dielectric elastomer's electromechanical response. Within this scenario, a hyperviscoelastic model of a rectangular constant-force actuator is reported. The model, based on the bond graph formalism, can be used as an engineering tool when designing and/or controlling actuators that are expected to work under given nominal conditions. Simulations and experimental results are provided, which predict the system response to fast changes in activation voltage and actuator position as imposed by an external user. {\\textcopyright} The Author(s) 2012.},\r\n  doi       = {10.1177/1045389X12457251},\r\n  keywords  = {Dielectric elastomer actuator,bond graph modeling,quasi-linear viscoelasticity},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2013_2.pdf},\r\n}\r\n\r\n
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\n Constant-force actuators based on dielectric elastomers can be obtained by coupling a dielectric elastomer film with particular compliant frames whose structural properties must be carefully designed. In any case, the practical achievement of a desired force profile can be quite a challenging task owing to the time-dependent phenomena, which affect the dielectric elastomer's electromechanical response. Within this scenario, a hyperviscoelastic model of a rectangular constant-force actuator is reported. The model, based on the bond graph formalism, can be used as an engineering tool when designing and/or controlling actuators that are expected to work under given nominal conditions. Simulations and experimental results are provided, which predict the system response to fast changes in activation voltage and actuator position as imposed by an external user. © The Author(s) 2012.\n
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\n \n\n \n \n Palli, G.; Melchiorri, C.; Vassura, G.; Berselli, G.; Pirozzi, S.; Natale, C.; De Maria, G.; and May, C.\n\n\n \n \n \n \n \n Innovative technologies for the next generation of robotic hands.\n \n \n \n \n\n\n \n\n\n\n Springer Tracts in Advanced Robotics, 80(STAR): 173–218. 2012.\n \n\n\n\n
\n\n\n\n \n \n \"Innovative paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Article{J8,\r\n  author    = {Palli, Gianluca and Melchiorri, Claudio and Vassura, Gabriele and Berselli, Giovanni and Pirozzi, Salvatore and Natale, Ciro and {De Maria}, Giuseppe and May, Chris},\r\n  title     = {{Innovative technologies for the next generation of robotic hands}},\r\n  journal   = {Springer Tracts in Advanced Robotics},\r\n  year      = {2012},\r\n  volume    = {80},\r\n  number    = {STAR},\r\n  pages     = {173--218},\r\n  issn      = {16107438},\r\n  abstract  = {With the aim of reproducing the grasping and manipulation capabilities of humans, many robotic devices have been developed all over the world in more than 50 years of research, starting from very simple grippers, normally used in industrial activities, to very complex anthropomorphic robotic hands. Unfortunately, the reduced functionality and/or reliability of the devices developed so far prevent, together with the cost, their usability in unstructured environments, and in particular in human everyday activities. The adoption of design solutions inherited from conventional mechanics and the lack of purposely developed sensors and actuators are among the main causes of the partial fail in achieving the final goal of reproducing human manipulation capabilities. Our research activity aims at developing innovative solutions concerning the mechanical design, the sensory equipment and the actuation system for the implementation of anthropomorphic robotic hands with improved reliability, functionality and reduced complexity and cost, considering also aspects related to safety during human-robot interaction, paving the way toward the next generation of robotic hands. {\\textcopyright} 2012 Springer-Verlag GmbH Berlin Heidelberg.},\r\n  doi       = {10.1007/978-3-642-29041-1_4},\r\n  isbn      = {9783642290404},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2012_1.pdf},\r\n}\r\n\r\n
\n
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\n With the aim of reproducing the grasping and manipulation capabilities of humans, many robotic devices have been developed all over the world in more than 50 years of research, starting from very simple grippers, normally used in industrial activities, to very complex anthropomorphic robotic hands. Unfortunately, the reduced functionality and/or reliability of the devices developed so far prevent, together with the cost, their usability in unstructured environments, and in particular in human everyday activities. The adoption of design solutions inherited from conventional mechanics and the lack of purposely developed sensors and actuators are among the main causes of the partial fail in achieving the final goal of reproducing human manipulation capabilities. Our research activity aims at developing innovative solutions concerning the mechanical design, the sensory equipment and the actuation system for the implementation of anthropomorphic robotic hands with improved reliability, functionality and reduced complexity and cost, considering also aspects related to safety during human-robot interaction, paving the way toward the next generation of robotic hands. © 2012 Springer-Verlag GmbH Berlin Heidelberg.\n
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\n \n\n \n \n Berselli, G.; Piccinini, M.; Palli, G.; and Vassura, G.\n\n\n \n \n \n \n \n Engineering design of fluid-filled soft covers for robotic contact interfaces: Guidelines, nonlinear modeling, and experimental validation.\n \n \n \n \n\n\n \n\n\n\n IEEE Transactions on Robotics, 27(3): 436–449. 2011.\n \n\n\n\n
\n\n\n\n \n \n \"Engineering paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J7,\r\n  author    = {Berselli, Giovanni and Piccinini, Marco and Palli, Gianluca and Vassura, Gabriele},\r\n  title     = {{Engineering design of fluid-filled soft covers for robotic contact interfaces: Guidelines, nonlinear modeling, and experimental validation}},\r\n  journal   = {IEEE Transactions on Robotics},\r\n  year      = {2011},\r\n  volume    = {27},\r\n  number    = {3},\r\n  pages     = {436--449},\r\n  issn      = {15523098},\r\n  abstract  = {Viscoelastic contact interfaces can be found in various robotic components that are covered with a compliant surface (pad) such as anthropomorphic hands, biomimetic haptic/tactile sensors, prostheses, and orthoses. In all these cases, it is desirable to obtain thin and resistant pads with predetermined compliance and damping properties (e.g., mimicking the human skin and pulpy tissues). In order to overcome the limits of homogeneous layers of a soft viscoelastic material, which is commonly used in the aforementioned devices, this paper suggests the adoption of soft pads that are composed of a continuous external layer (skin) coupled with an internal layer having fluid-filled voids. The process to design the pad starts with the selection of a hyperelastic medium with proper tribological features, whose constitutive parameters are determined by numerically fitting nonlinear stress-strain curves under pure homogenous deformations. The optimization of the internal layer morphology is then achieved through nonlinear finite element analysis (FEA) that provides an estimate of hardness and friction influence on the pad static compliance. Finally, the pad is filled with a viscous fluid that is chosen to modify time-dependent phenomena and to increase damping effects. The effectiveness of the procedure is proven by designing and modeling better-behaved artificial pads that mimic human-finger dynamic properties. {\\textcopyright} 2011 IEEE.},\r\n  doi       = {10.1109/TRO.2011.2132970},\r\n  keywords  = {Finite deformations,finite element analysis (FEA),hyperelasticity,quasi-linear model,viscoelastic contact},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2011_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Viscoelastic contact interfaces can be found in various robotic components that are covered with a compliant surface (pad) such as anthropomorphic hands, biomimetic haptic/tactile sensors, prostheses, and orthoses. In all these cases, it is desirable to obtain thin and resistant pads with predetermined compliance and damping properties (e.g., mimicking the human skin and pulpy tissues). In order to overcome the limits of homogeneous layers of a soft viscoelastic material, which is commonly used in the aforementioned devices, this paper suggests the adoption of soft pads that are composed of a continuous external layer (skin) coupled with an internal layer having fluid-filled voids. The process to design the pad starts with the selection of a hyperelastic medium with proper tribological features, whose constitutive parameters are determined by numerically fitting nonlinear stress-strain curves under pure homogenous deformations. The optimization of the internal layer morphology is then achieved through nonlinear finite element analysis (FEA) that provides an estimate of hardness and friction influence on the pad static compliance. Finally, the pad is filled with a viscous fluid that is chosen to modify time-dependent phenomena and to increase damping effects. The effectiveness of the procedure is proven by designing and modeling better-behaved artificial pads that mimic human-finger dynamic properties. © 2011 IEEE.\n
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\n \n\n \n \n Berselli, G.; Vertechy, R.; Vassura, G.; and Parenti-Castelli, V.\n\n\n \n \n \n \n \n Optimal synthesis of conically shaped dielectric elastomer linear actuators: Design methodology and experimental validation.\n \n \n \n \n\n\n \n\n\n\n IEEE/ASME Transactions on Mechatronics, 16(1): 67–79. 2011.\n \n\n\n\n
\n\n\n\n \n \n \"Optimal paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J6,\r\n  author    = {Berselli, Giovanni and Vertechy, Rocco and Vassura, Gabriele and Parenti-Castelli, Vincenzo},\r\n  title     = {{Optimal synthesis of conically shaped dielectric elastomer linear actuators: Design methodology and experimental validation}},\r\n  journal   = {IEEE/ASME Transactions on Mechatronics},\r\n  year      = {2011},\r\n  volume    = {16},\r\n  number    = {1},\r\n  pages     = {67--79},\r\n  issn      = {10834435},\r\n  abstract  = {An analytical model and an operational procedure are presented, which make it possible to optimize conically shaped dielectricelastomer linear actuators for known materials and desired force/stroke requirements. The actuators are obtained by coupling a dielectric elastomer film with a compliant frame which is sized by means of a pseudorigid body model. Depending on the frame design, the actuators can work monodirectionally or bidirectionally. Simulation and experimental results are provided which demonstrate the efficacy of the proposed design procedure and show that well-behaved conically shaped actuators can be conceived and produced. {\\textcopyright} 2006 IEEE.},\r\n  doi       = {10.1109/TMECH.2010.2090664},\r\n  keywords  = {Compliant mechanisms,dielectric elastomer actuators,optimal design},\r\n  type      = {(A) Journal Papers},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2011_3.pdf},\r\n}\r\n\r\n
\n
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\n An analytical model and an operational procedure are presented, which make it possible to optimize conically shaped dielectricelastomer linear actuators for known materials and desired force/stroke requirements. The actuators are obtained by coupling a dielectric elastomer film with a compliant frame which is sized by means of a pseudorigid body model. Depending on the frame design, the actuators can work monodirectionally or bidirectionally. Simulation and experimental results are provided which demonstrate the efficacy of the proposed design procedure and show that well-behaved conically shaped actuators can be conceived and produced. © 2006 IEEE.\n
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\n \n\n \n \n Palli, G.; Berselli, G.; Melchiorri, C.; and Vassura, G.\n\n\n \n \n \n \n \n Design of a Variable Stiffness Actuator Based on Flexures.\n \n \n \n \n\n\n \n\n\n\n Journal of Mechanisms and Robotics, 3(3): 034501. 2011.\n \n\n\n\n
\n\n\n\n \n \n \"DesignPaper\n  \n \n \n \"Design paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Article{J5,\r\n  author    = {Palli, Gianluca and Berselli, Giovanni and Melchiorri, Claudio and Vassura, Gabriele},\r\n  title     = {{Design of a Variable Stiffness Actuator Based on Flexures}},\r\n  journal   = {Journal of Mechanisms and Robotics},\r\n  year      = {2011},\r\n  volume    = {3},\r\n  number    = {3},\r\n  pages     = {034501},\r\n  issn      = {19424302},\r\n  abstract  = {Variable stiffness actuators can be used in order to achieve a suitable trade-off between performance and safety in robotic devices for physical human-robot interaction. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness actuator based on the use of flexures is investigated. The proposed concept allows the implementation of a desired stiffness profile and range. In particular, this paper reports a procedure for the synthesis of a fully compliant mechanism used as a nonlinear transmission element, together with its experimental characterization. Finally, a preliminary prototype of the overall joint is depicted. {\\textcopyright} 2011 American Society of Mechanical Engineers.},\r\n  doi       = {10.1115/1.4004228},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=1451862},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2011_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Variable stiffness actuators can be used in order to achieve a suitable trade-off between performance and safety in robotic devices for physical human-robot interaction. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness actuator based on the use of flexures is investigated. The proposed concept allows the implementation of a desired stiffness profile and range. In particular, this paper reports a procedure for the synthesis of a fully compliant mechanism used as a nonlinear transmission element, together with its experimental characterization. Finally, a preliminary prototype of the overall joint is depicted. © 2011 American Society of Mechanical Engineers.\n
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\n \n\n \n \n Babič, M.; Vertechy, R.; Berselli, G.; Lenarčič, J.; Parenti Castelli, V.; and Vassura, G.\n\n\n \n \n \n \n \n An electronic driver for improving the open and closed loop electro-mechanical response of Dielectric Elastomer actuators.\n \n \n \n \n\n\n \n\n\n\n Mechatronics, 20(2): 201–212. mar 2010.\n \n\n\n\n
\n\n\n\n \n \n \"AnPaper\n  \n \n \n \"An paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J4,\r\n  author    = {Babi{\\v{c}}, M. and Vertechy, R. and Berselli, G. and Lenar{\\v{c}}i{\\v{c}}, J. and {Parenti Castelli}, V. and Vassura, G.},\r\n  title     = {{An electronic driver for improving the open and closed loop electro-mechanical response of Dielectric Elastomer actuators}},\r\n  journal   = {Mechatronics},\r\n  year      = {2010},\r\n  volume    = {20},\r\n  number    = {2},\r\n  pages     = {201--212},\r\n  month     = {mar},\r\n  issn      = {09574158},\r\n  abstract  = {Actuators based on Dielectric Elastomers are a promising technology in robotic and mechatronic applications. The overall actuator performances are influenced by the non-linear and highly coupled electrical and mechanical behavior of the employed materials. To date, the practical electro-mechanical response and controllability of actuators based on Dielectric Elastomers are limited by the inadequacy of the employed driving circuits, which are based on voltage-regulated converters. In this paper, first a novel activation strategy is proposed for Dielectric Elastomer actuators, which is based on a custom electronic driver derived from the flyback transformer topology. Second, two closed-loop controllers employing the proposed electronic driver are presented and compared for the accurate and fast regulation of the position of Dielectric Elastomer actuators. Experimental results are reported which show that the proposed electronic driver outperforms the traditional driving circuits in terms of energy efficiency, fast open-loop actuator activation and good closed-loop actuator controllability. {\\textcopyright} 2009 Elsevier Ltd. All rights reserved.},\r\n  doi       = {10.1016/j.mechatronics.2009.11.006},\r\n  keywords  = {Dielectric Elastomers,Driving circuits,Position control,Smart actuators},\r\n  type      = {(A) Journal Papers},\r\n  url       = {https://linkinghub.elsevier.com/retrieve/pii/S0957415809001949},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2010_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Actuators based on Dielectric Elastomers are a promising technology in robotic and mechatronic applications. The overall actuator performances are influenced by the non-linear and highly coupled electrical and mechanical behavior of the employed materials. To date, the practical electro-mechanical response and controllability of actuators based on Dielectric Elastomers are limited by the inadequacy of the employed driving circuits, which are based on voltage-regulated converters. In this paper, first a novel activation strategy is proposed for Dielectric Elastomer actuators, which is based on a custom electronic driver derived from the flyback transformer topology. Second, two closed-loop controllers employing the proposed electronic driver are presented and compared for the accurate and fast regulation of the position of Dielectric Elastomer actuators. Experimental results are reported which show that the proposed electronic driver outperforms the traditional driving circuits in terms of energy efficiency, fast open-loop actuator activation and good closed-loop actuator controllability. © 2009 Elsevier Ltd. All rights reserved.\n
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\n \n\n \n \n Berselli, G.\n\n\n \n \n \n \n \n Modeling and Simulation of an Inertia-Type Infinitely Variable Transmission.\n \n \n \n \n\n\n \n\n\n\n Journal of Mechanical Design, 132(3): 034504. 2010.\n \n\n\n\n
\n\n\n\n \n \n \"ModelingPaper\n  \n \n \n \"Modeling paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Article{J3,\r\n  author    = {Berselli, Giovanni},\r\n  title     = {{Modeling and Simulation of an Inertia-Type Infinitely Variable Transmission}},\r\n  journal   = {Journal of Mechanical Design},\r\n  year      = {2010},\r\n  volume    = {132},\r\n  number    = {3},\r\n  pages     = {034504},\r\n  issn      = {10500472},\r\n  abstract  = {A fully mechanical, infinitely variable transmission (IVT) based on the use of an oscillating inertia is described. The system includes a four-bar linkage mechanism, an epicyclic gear train, and a pair of one-way clutches. The IVT can be used in place of both gearbox and clutch in self-propelled vehicles. A mathematical model is presented. Numerical simulations compare the behavior of a car fitted with a manual gearbox and the same car fitted with the IVT.},\r\n  doi       = {10.1115/1.4000454},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://mechanicaldesign.asmedigitalcollection.asme.org/article.aspx?articleid=1450243},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2010_3.pdf},\r\n}\r\n\r\n
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\n A fully mechanical, infinitely variable transmission (IVT) based on the use of an oscillating inertia is described. The system includes a four-bar linkage mechanism, an epicyclic gear train, and a pair of one-way clutches. The IVT can be used in place of both gearbox and clutch in self-propelled vehicles. A mathematical model is presented. Numerical simulations compare the behavior of a car fitted with a manual gearbox and the same car fitted with the IVT.\n
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\n \n\n \n \n Vertechy, R.; Berselli, G.; Parenti Castelli, V.; and Vassura, G.\n\n\n \n \n \n \n \n Optimal Design of Lozenge-shaped Dielectric Elastomer Linear Actuators: Mathematical Procedure and Experimental Validation.\n \n \n \n \n\n\n \n\n\n\n Journal of Intelligent Material Systems and Structures, 21(5): 503–515. mar 2010.\n \n\n\n\n
\n\n\n\n \n \n \"OptimalPaper\n  \n \n \n \"Optimal paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Article{J2,\r\n  author    = {Vertechy, Rocco and Berselli, Giovanni and {Parenti Castelli}, Vincenzo and Vassura, Gabriele},\r\n  title     = {{Optimal Design of Lozenge-shaped Dielectric Elastomer Linear Actuators: Mathematical Procedure and Experimental Validation}},\r\n  journal   = {Journal of Intelligent Material Systems and Structures},\r\n  year      = {2010},\r\n  volume    = {21},\r\n  number    = {5},\r\n  pages     = {503--515},\r\n  month     = {mar},\r\n  issn      = {1045-389X},\r\n  abstract  = {A novel mathematical procedure is presented, which makes it possible to optimize lozenge-shaped dielectric-elastomer-based linear actuators for known materials and desired force/stroke requirements. Simulation and experimental results are provided which both demonstrate the efficacy of the proposed optimization procedure with respect to traditional design approaches and show that simpler, cheaper, lighter, and better-behaved lozenge-shaped actuators can be conceived, which do not require any integration of compliant frame elements.},\r\n  doi       = {10.1177/1045389X09356608},\r\n  keywords  = {Dielectric elastomers,Optimal design.,Smart actuators},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://journals.sagepub.com/doi/10.1177/1045389X09356608},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2010_2.pdf},\r\n}\r\n\r\n
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\n A novel mathematical procedure is presented, which makes it possible to optimize lozenge-shaped dielectric-elastomer-based linear actuators for known materials and desired force/stroke requirements. Simulation and experimental results are provided which both demonstrate the efficacy of the proposed optimization procedure with respect to traditional design approaches and show that simpler, cheaper, lighter, and better-behaved lozenge-shaped actuators can be conceived, which do not require any integration of compliant frame elements.\n
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\n \n\n \n \n Berselli, G.; Vertechy, R.; Vassura, G.; and Castelli, V. P.\n\n\n \n \n \n \n \n Design of a Single-Acting Constant-Force Actuator Based on Dielectric Elastomers.\n \n \n \n \n\n\n \n\n\n\n Journal of Mechanisms and Robotics, 1(3): 031007. 2009.\n \n\n\n\n
\n\n\n\n \n \n \"DesignPaper\n  \n \n \n \"Design paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Article{J1,\r\n  author    = {Berselli, Giovanni and Vertechy, Rocco and Vassura, Gabriele and Castelli, Vincenzo Parenti},\r\n  title     = {{Design of a Single-Acting Constant-Force Actuator Based on Dielectric Elastomers}},\r\n  journal   = {Journal of Mechanisms and Robotics},\r\n  year      = {2009},\r\n  volume    = {1},\r\n  number    = {3},\r\n  pages     = {031007},\r\n  issn      = {19424302},\r\n  abstract  = {The in terest in actuators based on dielectric elastomer films as a promising technology in robotic and mechatronic applications is increasing. The overall actuator performances are influenced by the design of both the active film and the film supporting frame. This paper presents a single-acting actuator which is capable of supplying a constant force over a given range of motion. The actuator is obtained by coupling a rectangular film of silicone dielectric elastomer with a monolithic frame designed to suitably modify the force generated by the dielectric elastomer film. The frame is a fully compliant mechanism whose main structural parameters are calculated using a pseudo-rigid-body model and then verified by finite element analysis. Simulations show promising performance of the proposed actuator. Copyright {\\textcopyright} 2008 by ASME.},\r\n  doi       = {10.1115/1.3147182},\r\n  isbn      = {978-0-7918-4326-0},\r\n  publisher = {ASME},\r\n  type      = {(A) Journal Papers},\r\n  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1627461 http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=1484889},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/J2008_1.pdf},\r\n}\r\n\r\n
\n
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\n The in terest in actuators based on dielectric elastomer films as a promising technology in robotic and mechatronic applications is increasing. The overall actuator performances are influenced by the design of both the active film and the film supporting frame. This paper presents a single-acting actuator which is capable of supplying a constant force over a given range of motion. The actuator is obtained by coupling a rectangular film of silicone dielectric elastomer with a monolithic frame designed to suitably modify the force generated by the dielectric elastomer film. The frame is a fully compliant mechanism whose main structural parameters are calculated using a pseudo-rigid-body model and then verified by finite element analysis. Simulations show promising performance of the proposed actuator. Copyright © 2008 by ASME.\n
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\n  \n (B) Journal Papers - Submitted\n \n \n (4)\n \n \n
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\n \n\n \n \n Bilancia, P.; Berselli, G.; and Palli, G.\n\n\n \n \n \n \n Virtual and Physical Prototyping of a Beam-Based Variable Stiffness Actuator for Safe Human-Machine Interaction.\n \n \n \n\n\n \n\n\n\n .\n Robotics and Computer-Integrated Manufacturing - Submitted\n\n\n\n
\n\n\n\n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n\n\n\n
\n 
@Unpublished{J2019_S2,\r\n  author   = {Bilancia, Pietro and Berselli, Giovanni and Palli, Gianluca},\r\n  title    = {{Virtual and Physical Prototyping of a Beam-Based Variable Stiffness Actuator for Safe Human-Machine Interaction}},\r\n  note     = {Robotics and Computer-Integrated Manufacturing - Submitted},\r\n  keywords = {compliant mechanisms,variable stiffness actuators},\r\n  type     = {(B) Journal Papers - Submitted},\r\n}\r\n\r\n
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\n \n\n \n \n Bilancia, P.; Bonatti, G.; Berselli, G.; Bruzzone, L.; and Fanghella, P.\n\n\n \n \n \n \n Design of a Bio-Inspired Contact-Aided Compliant Joint via CAD / CAE Tools Integration.\n \n \n \n\n\n \n\n\n\n .\n IEEE/ASME Transactions on Mechatronics - Submitted\n\n\n\n
\n\n\n\n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Unpublished{J2019_S4,\r\n  author = {Bilancia, Pietro and Bonatti, Giacomo and Berselli, Giovanni and Bruzzone, Luca and Fanghella, Pietro},\r\n  title  = {{Design of a Bio-Inspired Contact-Aided Compliant Joint via CAD / CAE Tools Integration}},\r\n  note   = {IEEE/ASME Transactions on Mechatronics - Submitted},\r\n  type   = {(B) Journal Papers - Submitted},\r\n}\r\n\r\n
\n
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\n \n\n \n \n Bilancia, P.; and Berselli, G.\n\n\n \n \n \n \n Design and Testing of a Monolithic Compliant Constant Force Mechanism.\n \n \n \n\n\n \n\n\n\n .\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Unpublished{J2019_S3,\r\n  author   = {Bilancia, Pietro and Berselli, Giovanni},\r\n  title    = {{Design and Testing of a Monolithic Compliant Constant Force Mechanism}},\r\n  journal  = {Mechanism and Machine Theory - Submitted},\r\n  keywords = {compliant mechanisms,constant force mechanisms,software integration},\r\n  type     = {(B) Journal Papers - Submitted},\r\n}\r\n\r\n
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\n \n\n \n \n Bilancia, P.; Berselli, G.; Magleby, S.; and Howell, L.\n\n\n \n \n \n \n On the Modeling of a Contact-Aided Cross-Axis Flexural Pivot.\n \n \n \n\n\n \n\n\n\n .\n Smart Materials and Structures - Submitted\n\n\n\n
\n\n\n\n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@Unpublished{J2019_S5,\r\n  author   = {Bilancia, Pietro and Berselli, Giovanni and Magleby, Spencer and Howell, Larry},\r\n  title    = {{On the Modeling of a Contact-Aided Cross-Axis Flexural Pivot}},\r\n  note     = {Smart Materials and Structures - Submitted},\r\n  keywords = {chained-beam-constraint model,contact-aided compliant mechanism,cross-axis flexural pivot},\r\n  type     = {(B) Journal Papers - Submitted},\r\n}\r\n\r\n
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\n  \n (C) Book\n \n \n (1)\n \n \n
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\n \n\n \n \n Berselli, G.; Vertechy, R.; and Vassura, G.\n\n\n \n \n \n \n \n Smart Actuation and Sensing Systems - Recent Advances and Future Challenges.\n \n \n \n \n\n\n \n\n\n\n InTech, oct 2012.\n \n\n\n\n
\n\n\n\n \n \n \"SmartPaper\n  \n \n \n \"Smart paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Book{BookSASS,\r\n  title     = {{Smart Actuation and Sensing Systems - Recent Advances and Future Challenges}},\r\n  publisher = {InTech},\r\n  year      = {2012},\r\n  author    = {Berselli, Giovanni and Vertechy, Rocco and Vassura, Gabriele},\r\n  editor    = {Berselli, Giovanni},\r\n  month     = {oct},\r\n  isbn      = {978-953-51-0798-9},\r\n  doi       = {10.5772/2760},\r\n  type      = {(C) Book},\r\n  url       = {http://www.intechopen.com/books/smart-actuation-and-sensing-systems-recent-advances-and-future-challenges},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/BE2012_1.pdf},\r\n}\r\n\r\n
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\n  \n (D) Book Chapters\n \n \n (23)\n \n \n
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\n \n\n \n \n Berselli, G.; Bilancia, P.; and Razzoli, R.\n\n\n \n \n \n \n \n Project-Based Learning of CAD/CAE Tools for the Integrated Design of Automatic Machines.\n \n \n \n \n\n\n \n\n\n\n Project-Based Learning of CAD/CAE Tools for the Integrated Design of Automatic Machines, pages 798–809. 2019.\n \n\n\n\n
\n\n\n\n \n \n \"Project-BasedPaper\n  \n \n \n \"Project-Based paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InBook{B23,\r\n  pages     = {798--809},\r\n  title     = {{Project-Based Learning of CAD/CAE Tools for the Integrated Design of Automatic Machines}},\r\n  year      = {2019},\r\n  author    = {Berselli, G. and Bilancia, P. and Razzoli, R.},\r\n  type      = {(D) Book Chapters},\r\n  isbn      = {9783030123468},\r\n  abstract  = {This paper reports about project-based learning activities carried out within the course of Design ofAutomatic Machines at the University ofGenova. This didactic experience, provided to the students enrolled in the second-level degree in Mechanical Engineering, aims at providing the knowledge of those methods and tools required to optimally design functional parts of automatic machines, here including the mechanical architecture and the actuation sub- system. Lecture hours are equally devoted to the introduction of theoretical concepts and to lab exercises, which leverage on the extensive and advanced use of dedicated CAD/CAE software tools (i.e. PTC Creo). In particular, the pro- jects are related to the in-depth study of automated packaging systems, initial (sub-optimal) design solutions being provided by an industrial partner with years of practice in the sector. After a description of the educational goals, the presentation discusses the phases of the activity and the main methodological aspects. In addition, the adopted tools for the design and simulation of the developed systems are discussed in detail.},\r\n  booktitle = {Lecture Notes in Mechanical Engineering},\r\n  doi       = {10.1007/978-3-030-12346-8_78},\r\n  issn      = {21954364},\r\n  keywords  = {CAD-based shape optimization,CAD/CAE tools,Design parametrization},\r\n  url       = {http://link.springer.com/10.1007/978-3-030-12346-8{\\_}78},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2019_3.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n This paper reports about project-based learning activities carried out within the course of Design ofAutomatic Machines at the University ofGenova. This didactic experience, provided to the students enrolled in the second-level degree in Mechanical Engineering, aims at providing the knowledge of those methods and tools required to optimally design functional parts of automatic machines, here including the mechanical architecture and the actuation sub- system. Lecture hours are equally devoted to the introduction of theoretical concepts and to lab exercises, which leverage on the extensive and advanced use of dedicated CAD/CAE software tools (i.e. PTC Creo). In particular, the pro- jects are related to the in-depth study of automated packaging systems, initial (sub-optimal) design solutions being provided by an industrial partner with years of practice in the sector. After a description of the educational goals, the presentation discusses the phases of the activity and the main methodological aspects. In addition, the adopted tools for the design and simulation of the developed systems are discussed in detail.\n
\n\n\n
\n\n\n
\n \n\n \n \n Fanghella, P.; Berselli, G.; and Bruzzone, L.\n\n\n \n \n \n \n \n Analytical or Computer-Aided Graphical Methods for Introductory Teaching of Mechanism Kinematics?.\n \n \n \n \n\n\n \n\n\n\n Volume 64 . Analytical or Computer-Aided Graphical Methods for Introductory Teaching of Mechanism Kinematics?, pages 149–156. 2019.\n \n\n\n\n
\n\n\n\n \n \n \"AnalyticalPaper\n  \n \n \n \"Analytical paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InBook{B22,\r\n  pages     = {149--156},\r\n  title     = {{Analytical or Computer-Aided Graphical Methods for Introductory Teaching of Mechanism Kinematics?}},\r\n  year      = {2019},\r\n  author    = {Fanghella, Pietro and Berselli, Giovanni and Bruzzone, Luca},\r\n  volume    = {64},\r\n  type      = {(D) Book Chapters},\r\n  isbn      = {9783030001087},\r\n  abstract  = {The paper presents, through an example, two different approaches to introduce mechanism kinematics to first-cycle mechanical engineering students. Analytical solution and traditional graphic methods are considered, both sup- ported by state-of-the-art software tools. Advantages and disadvantages of both approaches from an educational point of view are outlined during example development. Finally a summarizing discussion is proposed. 1},\r\n  booktitle = {Mechanisms and Machine Science},\r\n  doi       = {10.1007/978-3-030-00108-7_17},\r\n  issn      = {22110992},\r\n  url       = {http://link.springer.com/10.1007/978-3-030-00108-7{\\_}17},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2019_5.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n The paper presents, through an example, two different approaches to introduce mechanism kinematics to first-cycle mechanical engineering students. Analytical solution and traditional graphic methods are considered, both sup- ported by state-of-the-art software tools. Advantages and disadvantages of both approaches from an educational point of view are outlined during example development. Finally a summarizing discussion is proposed. 1\n
\n\n\n
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\n \n\n \n \n Bruzzone, L.; Fanghella, P.; Berselli, G.; and Bilancia, P.\n\n\n \n \n \n \n \n Additive Manufacturing-Oriented Redesign of Mantis 3.0 Hybrid Robot.\n \n \n \n \n\n\n \n\n\n\n Volume 67 . Additive Manufacturing-Oriented Redesign of Mantis 3.0 Hybrid Robot, pages 272–280. 2019.\n \n\n\n\n
\n\n\n\n \n \n \"AdditivePaper\n  \n \n \n \"Additive paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InBook{B21,\r\n  pages     = {272--280},\r\n  title     = {{Additive Manufacturing-Oriented Redesign of Mantis 3.0 Hybrid Robot}},\r\n  year      = {2019},\r\n  author    = {Bruzzone, Luca and Fanghella, Pietro and Berselli, Giovanni and Bilancia, Pietro},\r\n  volume    = {67},\r\n  number    = {L},\r\n  type      = {(D) Book Chapters},\r\n  isbn      = {9783030002329},\r\n  abstract  = {{\\textcopyright} Springer Nature Switzerland AG 2019. The paper presents the third version of the hybrid leg-wheel ground mobile robot Mantis, a small-scale platform designed for inspection and surveillance tasks. The locomotion system is based on the cooperating action of a couple of actuated front legs and wheels, along with a passive rear carriage. The system performs wheeled locomotion on even grounds and hybrid locomotion in case of terrain irregularities or obstacles. This architecture combines high speed, energy efficiency, maneuverability and stable camera vision on flat terrains with good motion capabilities in unstructured environments. In the embodiment design presented hereafter, referred to as Mantis 3.0, the rear carriage has been equipped with four passive wheels, instead of two as in the previous versions, in order to improve the stability during steep stair climbing maneuvers; moreover, the legs, the main body and the rear carriage have been significantly redesigned in order to be realized by additive manufacturing techniques, with the final aim of obtaining a low-cost device suitable for Open Source distribution.},\r\n  booktitle = {Mechanisms and Machine Science},\r\n  doi       = {10.1007/978-3-030-00232-9_28},\r\n  issn      = {22110992},\r\n  keywords  = {Additive manufacturing,Ground mobile robot,Hybrid leg-wheel locomotion,Low-cost robotics,Step climbing},\r\n  url       = {http://link.springer.com/10.1007/978-3-030-00232-9{\\_}28},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2019_4.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n © Springer Nature Switzerland AG 2019. The paper presents the third version of the hybrid leg-wheel ground mobile robot Mantis, a small-scale platform designed for inspection and surveillance tasks. The locomotion system is based on the cooperating action of a couple of actuated front legs and wheels, along with a passive rear carriage. The system performs wheeled locomotion on even grounds and hybrid locomotion in case of terrain irregularities or obstacles. This architecture combines high speed, energy efficiency, maneuverability and stable camera vision on flat terrains with good motion capabilities in unstructured environments. In the embodiment design presented hereafter, referred to as Mantis 3.0, the rear carriage has been equipped with four passive wheels, instead of two as in the previous versions, in order to improve the stability during steep stair climbing maneuvers; moreover, the legs, the main body and the rear carriage have been significantly redesigned in order to be realized by additive manufacturing techniques, with the final aim of obtaining a low-cost device suitable for Open Source distribution.\n
\n\n\n
\n\n\n
\n \n\n \n \n Bruzzone, L.; Berselli, G.; Bilancia, P.; and Fanghella, P.\n\n\n \n \n \n \n \n Design Issues for Tracked Boat Transporter Vehicles.\n \n \n \n \n\n\n \n\n\n\n Volume 73 . Design Issues for Tracked Boat Transporter Vehicles, pages 3671–3679. 2019.\n \n\n\n\n
\n\n\n\n \n \n \"DesignPaper\n  \n \n \n \"Design paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InBook{B20,\r\n  pages     = {3671--3679},\r\n  title     = {{Design Issues for Tracked Boat Transporter Vehicles}},\r\n  year      = {2019},\r\n  author    = {Bruzzone, Luca and Berselli, Giovanni and Bilancia, Pietro and Fanghella, Pietro},\r\n  volume    = {73},\r\n  type      = {(D) Book Chapters},\r\n  isbn      = {9783030201319},\r\n  abstract  = {Elloboat is a tracked vehicle for launching and beaching of small boats and watercrafts, capable of operating in a wide range of operative conditions, here including rescue applications. This paper presents the vehicle architecture and discusses the main design issues. The effects of track dimensions on terrain compaction, bulldozing resistances and, consequently, on track sinkage are ana- lyzed by means of the Bekker model. Obviously, track dimensions also influence the vehicle mass and size, leading to a complex engineering problem. Since ve- hicle speed and acceleration are limited, stability during locomotion can be as- sessed using a quasi-static approach, computing the longitudinal and lateral tip- ping angles for a given vehicle configuration and payload position, and imposing a proper limit to their minimum. Stability analysis can be exploited not only in the design phase, but also for the real-time evaluation of the actual margin of stability, so as to help the operator in the vehicle path/speed planning.},\r\n  booktitle = {Mechanisms and Machine Science},\r\n  doi       = {10.1007/978-3-030-20131-9_362},\r\n  issn      = {22110992},\r\n  keywords  = {Beaching,Bekker Theory,Launch,Small Boat,Tracked Vehicle,Watercraft},\r\n  url       = {http://link.springer.com/10.1007/978-3-030-20131-9{\\_}362},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2019_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Elloboat is a tracked vehicle for launching and beaching of small boats and watercrafts, capable of operating in a wide range of operative conditions, here including rescue applications. This paper presents the vehicle architecture and discusses the main design issues. The effects of track dimensions on terrain compaction, bulldozing resistances and, consequently, on track sinkage are ana- lyzed by means of the Bekker model. Obviously, track dimensions also influence the vehicle mass and size, leading to a complex engineering problem. Since ve- hicle speed and acceleration are limited, stability during locomotion can be as- sessed using a quasi-static approach, computing the longitudinal and lateral tip- ping angles for a given vehicle configuration and payload position, and imposing a proper limit to their minimum. Stability analysis can be exploited not only in the design phase, but also for the real-time evaluation of the actual margin of stability, so as to help the operator in the vehicle path/speed planning.\n
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\n\n\n
\n \n\n \n \n Bruzzone, L.; Berselli, G.; Crenna, F.; and Fanghella, P.\n\n\n \n \n \n \n \n An Experimental Setup for the Introduction of High School and Undergraduate Students to Vibration and Mechatronics Topics.\n \n \n \n \n\n\n \n\n\n\n Volume 73 . An Experimental Setup for the Introduction of High School and Undergraduate Students to Vibration and Mechatronics Topics, pages 795–804. 2019.\n \n\n\n\n
\n\n\n\n \n \n \"AnPaper\n  \n \n \n \"An paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InBook{B19,\r\n  pages     = {795--804},\r\n  title     = {{An Experimental Setup for the Introduction of High School and Undergraduate Students to Vibration and Mechatronics Topics}},\r\n  year      = {2019},\r\n  author    = {Bruzzone, Luca and Berselli, Giovanni and Crenna, Francesco and Fanghella, Pietro},\r\n  volume    = {73},\r\n  type      = {(D) Book Chapters},\r\n  isbn      = {9783030201319},\r\n  abstract  = {The paper presents an experimental setup suited to a starting introduction of high school and undergraduate students to basic topics in vibrations, data acquisition and signal processing. The setup is portable, based on low-cost gear motor, sensors and control electronics, with 3D printed custom parts, and it has been used in different education contexts. Its specification, realization, features and usage are discussed in the paper.},\r\n  booktitle = {Mechanisms and Machine Science},\r\n  doi       = {10.1007/978-3-030-20131-9_79},\r\n  issn      = {22110992},\r\n  keywords  = {Engineering Education,High School,Mechanical Vibrations,Mechatronic Systems,Undergraduate Students},\r\n  url       = {http://link.springer.com/10.1007/978-3-030-20131-9{\\_}79},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2019_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n The paper presents an experimental setup suited to a starting introduction of high school and undergraduate students to basic topics in vibrations, data acquisition and signal processing. The setup is portable, based on low-cost gear motor, sensors and control electronics, with 3D printed custom parts, and it has been used in different education contexts. Its specification, realization, features and usage are discussed in the paper.\n
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\n \n\n \n \n Parvari Rad, F.; Vertechy, R.; Berselli, G.; and Parenti-Castelli, V.\n\n\n \n \n \n \n \n Compliant Serial 3R Chain with Spherical Flexures.\n \n \n \n \n\n\n \n\n\n\n Volume 8 of Springer Proceedings in Advanced Robotics. Compliant Serial 3R Chain with Spherical Flexures, pages 11–21. Lenarcic, J.; and Parenti-Castelli, V., editor(s). Springer International Publishing, Cham, 2018.\n \n\n\n\n
\n\n\n\n \n \n \"CompliantPaper\n  \n \n \n \"Compliant paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InBook{B18,\r\n  pages     = {11--21},\r\n  title     = {{Compliant Serial 3R Chain with Spherical Flexures}},\r\n  publisher = {Springer International Publishing},\r\n  year      = {2018},\r\n  author    = {{Parvari Rad}, Farid and Vertechy, Rocco and Berselli, Giovanni and Parenti-Castelli, Vincenzo},\r\n  editor    = {Lenarcic, Jadran and Parenti-Castelli, Vincenzo},\r\n  volume    = {8},\r\n  series    = {Springer Proceedings in Advanced Robotics},\r\n  type      = {(D) Book Chapters},\r\n  address   = {Cham},\r\n  abstract  = {This paper presents a method to compute the largest sphere inside the position-workspace of a semi-regular Stewart platform manipulatorStewart platform manipulator , that is free of gain-typeGain-type singularity singularities. The sphere is specific to a given orientation of the moving platform, and is centred at a designated point of interest. The computation is performed in two parts; in the first part, a Computer Algebra System (CAS) is used to derive a set of exact symbolic expressions, which are then used further in a purely numerical manner for faster computation. The method thus affords high computation speed, while retaining the exactness and generic nature of the results. The numerical results are validated against those obtained from an established numerical algebraic geometry tool, namely, Bertini, and are illustrated via an example.},\r\n  booktitle = {Advances in Robot Kinematics},\r\n  doi       = {10.1007/978-3-319-56802-7_2},\r\n  url       = {http://link.springer.com/10.1007/978-3-319-93188-3 http://link.springer.com/10.1007/978-3-319-56802-7{\\_}2},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2018_S1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n This paper presents a method to compute the largest sphere inside the position-workspace of a semi-regular Stewart platform manipulatorStewart platform manipulator , that is free of gain-typeGain-type singularity singularities. The sphere is specific to a given orientation of the moving platform, and is centred at a designated point of interest. The computation is performed in two parts; in the first part, a Computer Algebra System (CAS) is used to derive a set of exact symbolic expressions, which are then used further in a purely numerical manner for faster computation. The method thus affords high computation speed, while retaining the exactness and generic nature of the results. The numerical results are validated against those obtained from an established numerical algebraic geometry tool, namely, Bertini, and are illustrated via an example.\n
\n\n\n
\n\n\n
\n \n\n \n \n Bruzzone, L.; Bonatti, D.; Berselli, G.; and Fanghella, P.\n\n\n \n \n \n \n \n Analytical and Multibody Modelling of a Quick-Release Hook Mechanism.\n \n \n \n \n\n\n \n\n\n\n Volume 47 . Analytical and Multibody Modelling of a Quick-Release Hook Mechanism, pages 523–531. 2017.\n \n\n\n\n
\n\n\n\n \n \n \"AnalyticalPaper\n  \n \n \n \"Analytical paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InBook{B17,\r\n  pages     = {523--531},\r\n  title     = {{Analytical and Multibody Modelling of a Quick-Release Hook Mechanism}},\r\n  year      = {2017},\r\n  author    = {Bruzzone, Luca and Bonatti, Davide and Berselli, Giovanni and Fanghella, Pietro},\r\n  volume    = {47},\r\n  type      = {(D) Book Chapters},\r\n  abstract  = {Quick-Release Hooks (QRH) are particular accessories for connecting chains or metal ropes, that can be remotely unfastened under full-load conditions via application of an external force with limited magnitude. Despite their wide- spread use, and aside from a number of patents, the scientific literature related to QRH performance is rather limited. This paper reports about the modelling of a class of QRH, which relies on the use of a four-bar linkage mechanism operating in the proximity of a singularity configuration. Design graphs depicting the main functional parameters are reported. At last, a multibody model of the system is developed, which validates the analytical results while providing an insight of the frictional forces effect on the device modelling and performance.},\r\n  annote    = {cited By 1},\r\n  doi       = {10.1007/978-3-319-48375-7_56},\r\n  journal   = {Mechanisms and Machine Science},\r\n  url       = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84996847765{\\&}doi=10.1007{\\%}2F978-3-319-48375-7{\\_}56{\\&}partnerID=40{\\&}md5=45eda0d3fc8b0ae4e7112c66bdb7181a http://link.springer.com/10.1007/978-3-319-48375-7{\\_}56},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2017_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Quick-Release Hooks (QRH) are particular accessories for connecting chains or metal ropes, that can be remotely unfastened under full-load conditions via application of an external force with limited magnitude. Despite their wide- spread use, and aside from a number of patents, the scientific literature related to QRH performance is rather limited. This paper reports about the modelling of a class of QRH, which relies on the use of a four-bar linkage mechanism operating in the proximity of a singularity configuration. Design graphs depicting the main functional parameters are reported. At last, a multibody model of the system is developed, which validates the analytical results while providing an insight of the frictional forces effect on the device modelling and performance.\n
\n\n\n
\n\n\n
\n \n\n \n \n Berselli, G.; Gadaleta, M.; Genovesi, A.; Pellicciari, M.; Peruzzini, M.; and Razzoli, R.\n\n\n \n \n \n \n \n Engineering methods and tools enabling reconfigurable and adaptive robotic deburring.\n \n \n \n \n\n\n \n\n\n\n Engineering methods and tools enabling reconfigurable and adaptive robotic deburring, pages 655–664. 2017.\n \n\n\n\n
\n\n\n\n \n \n \"EngineeringPaper\n  \n \n \n \"Engineering paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InBook{B16,\r\n  pages     = {655--664},\r\n  title     = {{Engineering methods and tools enabling reconfigurable and adaptive robotic deburring}},\r\n  year      = {2017},\r\n  author    = {Berselli, Giovanni and Gadaleta, Michele and Genovesi, Andrea and Pellicciari, Marcello and Peruzzini, Margherita and Razzoli, Roberto},\r\n  type      = {(D) Book Chapters},\r\n  abstract  = {According to recent researches, it is desirable to extend Industrial Ro- bots (IR) applicability to strategic fields such as heavy and/or fine deburring of customized parts with complex geometry. In fact, from a conceptual point of view, anthropomorphic manipulators could effectively provide an excellent alternative to dedicated machine tools (lathes, milling machines, etc.), by being both flexible (due to their lay-out) and cost efficient (20-50{\\%} cost reduction as compared to traditional CNC machining). Nonetheless, in order to successfully enable high- quality Robotic Deburring (RD), it is necessary to overcome the intrinsic robot limitations (e.g. reduced structural stiffness, backlash, time-consuming process planning/optimization) by means of suitable design strategies and additional engi- neering tools. Within this context, the purpose of this paper is to present recent advances in design methods and software platforms for RD effective exploitation. Focusing on offline methods for robot programming, two novel approaches are described. On one hand, practical design guidelines (devised via a DOE method) for optimal IR positioning within the robotic workcell are presented. Secondly, a virtual prototyping technique for simulating a class of passively compliant spin- dles is introduced, which allows for the offline tuning of the RD process parame- ters (e.g. feed rate and tool compliance). Both approaches are applied in the design of a robotic workcell for high-accuracy deburring of aerospace turbine blades.},\r\n  annote    = {cited By 2},\r\n  doi       = {10.1007/978-3-319-45781-9_66},\r\n  journal   = {Lecture Notes in Mechanical Engineering},\r\n  url       = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85019646348{\\&}doi=10.1007{\\%}2F978-3-319-45781-9{\\_}66{\\&}partnerID=40{\\&}md5=7f3aeb37fcb42c4025f39617b767b999 http://link.springer.com/10.1007/978-3-319-45781-9{\\_}66},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2017_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n According to recent researches, it is desirable to extend Industrial Ro- bots (IR) applicability to strategic fields such as heavy and/or fine deburring of customized parts with complex geometry. In fact, from a conceptual point of view, anthropomorphic manipulators could effectively provide an excellent alternative to dedicated machine tools (lathes, milling machines, etc.), by being both flexible (due to their lay-out) and cost efficient (20-50% cost reduction as compared to traditional CNC machining). Nonetheless, in order to successfully enable high- quality Robotic Deburring (RD), it is necessary to overcome the intrinsic robot limitations (e.g. reduced structural stiffness, backlash, time-consuming process planning/optimization) by means of suitable design strategies and additional engi- neering tools. Within this context, the purpose of this paper is to present recent advances in design methods and software platforms for RD effective exploitation. Focusing on offline methods for robot programming, two novel approaches are described. On one hand, practical design guidelines (devised via a DOE method) for optimal IR positioning within the robotic workcell are presented. Secondly, a virtual prototyping technique for simulating a class of passively compliant spin- dles is introduced, which allows for the offline tuning of the RD process parame- ters (e.g. feed rate and tool compliance). Both approaches are applied in the design of a robotic workcell for high-accuracy deburring of aerospace turbine blades.\n
\n\n\n
\n\n\n
\n \n\n \n \n Berselli, G.; Pellicciari, M.; Bigi, G.; and Andrisano, A. O\n\n\n \n \n \n \n \n Virtual Prototyping of a Compliant Spindle for Robotic Deburring.\n \n \n \n \n\n\n \n\n\n\n Volume 365 of Lecture Notes in Electrical Engineering. Virtual Prototyping of a Compliant Spindle for Robotic Deburring, pages 17–30. Pasila, F.; Tanoto, Y.; Lim, R.; Santoso, M.; and Pah, N. D., editor(s). Springer Singapore, Singapore, 2016.\n \n\n\n\n
\n\n\n\n \n \n \"VirtualPaper\n  \n \n \n \"Virtual paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n\n\n\n
\n 
@InBook{B15,\r\n  pages     = {17--30},\r\n  title     = {{Virtual Prototyping of a Compliant Spindle for Robotic Deburring}},\r\n  publisher = {Springer Singapore},\r\n  year      = {2016},\r\n  author    = {Berselli, Giovanni and Pellicciari, Marcello and Bigi, Gabriele and Andrisano, Angelo O},\r\n  editor    = {Pasila, Felix and Tanoto, Yusak and Lim, Resmana and Santoso, Murtiyanto and Pah, Nemuel Daniel},\r\n  volume    = {365},\r\n  number    = {Icesti 2015},\r\n  series    = {Lecture Notes in Electrical Engineering},\r\n  type      = {(D) Book Chapters},\r\n  address   = {Singapore},\r\n  abstract  = {The project developed a web site learning support for tracing scientific articles relating to a given input seed paper/article. The system will finds related articles that are listed on the references of the seed article. First, the reference list of an input seed article is extracted by utilizing Parscit citation extraction. Furthermore, the system searches the reference articles using Google Scholar and Mendeley API. Thus articles which are related to the seed article can be found. The system was built using PHP programming, it is utilizing Parscit modules, Google Scholar search and https://www.mendeley.com/ API. Testing has been done by giving an input seed article. User will obtain the results of several articles related to the seed article.},\r\n  booktitle = {Lecture Notes in Electrical Engineering},\r\n  doi       = {10.1007/978-981-287-988-2_2},\r\n  keywords  = {cad-based tools},\r\n  url       = {http://link.springer.com/10.1007/978-981-287-988-2 http://link.springer.com/10.1007/978-981-287-988-2{\\_}2},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2017_3.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n The project developed a web site learning support for tracing scientific articles relating to a given input seed paper/article. The system will finds related articles that are listed on the references of the seed article. First, the reference list of an input seed article is extracted by utilizing Parscit citation extraction. Furthermore, the system searches the reference articles using Google Scholar and Mendeley API. Thus articles which are related to the seed article can be found. The system was built using PHP programming, it is utilizing Parscit modules, Google Scholar search and https://www.mendeley.com/ API. Testing has been done by giving an input seed article. User will obtain the results of several articles related to the seed article.\n
\n\n\n
\n\n\n
\n \n\n \n \n Rad, F. P.; Berselli, G.; Vertechy, R.; and Castelli, V. P.\n\n\n \n \n \n \n \n Evaluating the Spatial Compliance of Circularly Curved-Beam Flexures.\n \n \n \n \n\n\n \n\n\n\n Volume 51 . Evaluating the Spatial Compliance of Circularly Curved-Beam Flexures, pages 377–386. 2014.\n \n\n\n\n
\n\n\n\n \n \n \"EvaluatingPaper\n  \n \n \n \"Evaluating paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InBook{B14,\r\n  pages     = {377--386},\r\n  title     = {{Evaluating the Spatial Compliance of Circularly Curved-Beam Flexures}},\r\n  year      = {2014},\r\n  author    = {Rad, Farid Parvari and Berselli, Giovanni and Vertechy, Rocco and Castelli, Vincenzo Parenti},\r\n  volume    = {51},\r\n  number    = {1-3},\r\n  type      = {(D) Book Chapters},\r\n  isbn      = {9789400772144},\r\n  abstract  = {We present a kinematic analysis algorithm for mechanisms built of rigid parts, such as door locks, gearboxes, and transmissions. The algorithm produces a concise and complete description of the kinematics of a mechanism. It optimizes the computation by decomposing complex mechanisms into subassemblies, deriving the kinematics of the subassemblies, and incrementally composing the results. We define a class of mechanisms for which kinematic analysis is feasible by restricting the shapes, motions, and interactions of parts. The feasible class contains linkages, mechanisms whose parts move along fixed spatial axes, and combinations of the two types. We show that the feasible class covers most mechanisms by surveying 2500 mechanisms from an engineering encyclopedia. We implement the kinematic analysis algorithm for fixed-axes mechanisms. The inputs are the shapes and initial configurations of the parts. The output is a region diagram, a partition of the mechanism configuration space into regions that characterize its operating modes. The program computes the region diagram by identifying motion axes and interacting pairs of parts, partitioning the pairwise configuration spaces, and composing them. Coupling the program with existing linkage analysis packages covers most feasible mechanisms. We identify classes of infeasible mechanisms and describe possible analysis strategies for them. {\\textcopyright} 1991.},\r\n  booktitle = {Springer, Computational Kinematics},\r\n  doi       = {10.1007/978-94-007-7214-4_42},\r\n  issn      = {00043702},\r\n  keywords  = {circularly curved-beam flexures,compliance matrix,finite element analysis,robotic fingers},\r\n  url       = {http://link.springer.com/10.1007/978-94-007-7214-4{\\_}42},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2014_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n We present a kinematic analysis algorithm for mechanisms built of rigid parts, such as door locks, gearboxes, and transmissions. The algorithm produces a concise and complete description of the kinematics of a mechanism. It optimizes the computation by decomposing complex mechanisms into subassemblies, deriving the kinematics of the subassemblies, and incrementally composing the results. We define a class of mechanisms for which kinematic analysis is feasible by restricting the shapes, motions, and interactions of parts. The feasible class contains linkages, mechanisms whose parts move along fixed spatial axes, and combinations of the two types. We show that the feasible class covers most mechanisms by surveying 2500 mechanisms from an engineering encyclopedia. We implement the kinematic analysis algorithm for fixed-axes mechanisms. The inputs are the shapes and initial configurations of the parts. The output is a region diagram, a partition of the mechanism configuration space into regions that characterize its operating modes. The program computes the region diagram by identifying motion axes and interacting pairs of parts, partitioning the pairwise configuration spaces, and composing them. Coupling the program with existing linkage analysis packages covers most feasible mechanisms. We identify classes of infeasible mechanisms and describe possible analysis strategies for them. © 1991.\n
\n\n\n
\n\n\n
\n \n\n \n \n Rad, F. P.; Berselli, G.; Vertechy, R.; and Castelli, V. P.\n\n\n \n \n \n \n \n Compliance Based Characterization of Spherical Flexure Hinges for Spatial Compliant Mechanisms.\n \n \n \n \n\n\n \n\n\n\n Volume 22 . Compliance Based Characterization of Spherical Flexure Hinges for Spatial Compliant Mechanisms, pages 401–409. 2014.\n \n\n\n\n
\n\n\n\n \n \n \"CompliancePaper\n  \n \n \n \"Compliance paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InBook{B13,\r\n  pages     = {401--409},\r\n  title     = {{Compliance Based Characterization of Spherical Flexure Hinges for Spatial Compliant Mechanisms}},\r\n  year      = {2014},\r\n  author    = {Rad, Farid Parvari and Berselli, Giovanni and Vertechy, Rocco and Castelli, Vincenzo Parenti},\r\n  volume    = {22},\r\n  type      = {(D) Book Chapters},\r\n  abstract  = {In this paper, the closed-form compliance equations for spherical flexures are derived. Each element of the spatial compliance matrix is analytically computed as a function of both hinge dimensions and employed material. The theoretical model is then validated by relating analytical data with the results obtained through Finite Element Analysis. Finally, for a generic loading condition, spherical flexures are compared to circularly curved-beam hinges in terms of secondary compliance factors and maximum stress.},\r\n  annote    = {cited By 0},\r\n  booktitle = {Mechanisms and Machine Science},\r\n  doi       = {10.1007/978-3-319-07058-2_45},\r\n  url       = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84927664022{\\&}doi=10.1007{\\%}2F978-3-319-07058-2{\\_}45{\\&}partnerID=40{\\&}md5=eca4083e954951a6fa27cf1eb6787cbe http://link.springer.com/10.1007/978-3-319-07058-2{\\_}45},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2014_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n In this paper, the closed-form compliance equations for spherical flexures are derived. Each element of the spatial compliance matrix is analytically computed as a function of both hinge dimensions and employed material. The theoretical model is then validated by relating analytical data with the results obtained through Finite Element Analysis. Finally, for a generic loading condition, spherical flexures are compared to circularly curved-beam hinges in terms of secondary compliance factors and maximum stress.\n
\n\n\n
\n\n\n
\n \n\n \n \n Parvari Rad, F.; Berselli, G.; Vertechy, R.; and Parenti-Castelli, V.\n\n\n \n \n \n \n \n Stiffness Analysis of a Fully Compliant Spherical Chain with Two Degrees of Freedom.\n \n \n \n \n\n\n \n\n\n\n Volume 41 . Stiffness Analysis of a Fully Compliant Spherical Chain with Two Degrees of Freedom, pages 273–284. Springer International Publishing, Cham, nov 2014.\n \n\n\n\n
\n\n\n\n \n \n \"StiffnessPaper\n  \n \n \n \"Stiffness paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n\n\n\n
\n 
@InBook{B12,\r\n  pages     = {273--284},\r\n  title     = {{Stiffness Analysis of a Fully Compliant Spherical Chain with Two Degrees of Freedom}},\r\n  publisher = {Springer International Publishing},\r\n  year      = {2014},\r\n  author    = {{Parvari Rad}, Farid and Berselli, Giovanni and Vertechy, Rocco and Parenti-Castelli, Vincenzo},\r\n  volume    = {41},\r\n  number    = {11},\r\n  type      = {(D) Book Chapters},\r\n  address   = {Cham},\r\n  month     = {nov},\r\n  isbn      = {9783319066981},\r\n  abstract  = {This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. These methods are applied to both parallel and serial multi-degree-of-freedom systems. The book includes about 50 reviewed (by two independent reviewers) papers of researchers specialising in robot kinematics. The contributors are the most recognised scientists in this area. The chapters are as follows: Methods in Kinematics, Properties of Mechanisms, Humanoids and Biomedical Applications, Workspace and Isotropy, Analysis of Mechanisms, Design of Mechanisms, Motion Synthesis and Mobility.},\r\n  booktitle = {Advances in Robot Kinematics},\r\n  doi       = {10.1007/978-3-319-06698-1_29},\r\n  issn      = {00051098},\r\n  keywords  = {spherical flexures},\r\n  url       = {https://linkinghub.elsevier.com/retrieve/pii/S0005109805001871 http://link.springer.com/10.1007/978-3-319-06698-1{\\_}29},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2014_S1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. These methods are applied to both parallel and serial multi-degree-of-freedom systems. The book includes about 50 reviewed (by two independent reviewers) papers of researchers specialising in robot kinematics. The contributors are the most recognised scientists in this area. The chapters are as follows: Methods in Kinematics, Properties of Mechanisms, Humanoids and Biomedical Applications, Workspace and Isotropy, Analysis of Mechanisms, Design of Mechanisms, Motion Synthesis and Mobility.\n
\n\n\n
\n\n\n
\n \n\n \n \n Vertechy, R.; Berselli, G.; and Castelli, V. P.\n\n\n \n \n \n \n \n Electro-Elastic Model for Dielectric Elastomers.\n \n \n \n \n\n\n \n\n\n\n Volume 14 . Electro-Elastic Model for Dielectric Elastomers, pages 245–250. 2013.\n \n\n\n\n
\n\n\n\n \n \n \"Electro-ElasticPaper\n  \n \n \n \"Electro-Elastic paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InBook{B11,\r\n  pages     = {245--250},\r\n  title     = {{Electro-Elastic Model for Dielectric Elastomers}},\r\n  year      = {2013},\r\n  author    = {Vertechy, Rocco and Berselli, Giovanni and Castelli, Vincenzo Parenti},\r\n  volume    = {14},\r\n  type      = {(D) Book Chapters},\r\n  abstract  = {A continuum model is described for the study of the electro-elastic finite deformations of dielectric elastomers. The model: i) derives directly from a global energy balance; ii) does not require the postulation of any force or stress- tensor of electrical origin; iii) only requires the knowledge of permittivity and shear moduli of the considered material; and iv) is presented in Lagrangian form which is suited for the implementation in multi-physic finite element simulation environments.},\r\n  booktitle = {Advances in Mechanisms, Robotics and Design Education and Research},\r\n  doi       = {10.1007/978-3-319-00398-6_19},\r\n  url       = {http://link.springer.com/10.1007/978-3-319-00398-6 http://link.springer.com/10.1007/978-3-319-00398-6{\\_}19},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2013_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n A continuum model is described for the study of the electro-elastic finite deformations of dielectric elastomers. The model: i) derives directly from a global energy balance; ii) does not require the postulation of any force or stress- tensor of electrical origin; iii) only requires the knowledge of permittivity and shear moduli of the considered material; and iv) is presented in Lagrangian form which is suited for the implementation in multi-physic finite element simulation environments.\n
\n\n\n
\n\n\n
\n \n\n \n \n Leali, F.; Pellicciari, M.; Pini, F.; Vergnano, A.; and Berselli, G.\n\n\n \n \n \n \n \n A Calibration Method for the Integrated Design of Finishing Robotic Workcells in the Aerospace Industry.\n \n \n \n \n\n\n \n\n\n\n Volume 371 . A Calibration Method for the Integrated Design of Finishing Robotic Workcells in the Aerospace Industry, pages 37–48. 2013.\n \n\n\n\n
\n\n\n\n \n \n \"APaper\n  \n \n \n \"A paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InBook{B10,\r\n  pages     = {37--48},\r\n  title     = {{A Calibration Method for the Integrated Design of Finishing Robotic Workcells in the Aerospace Industry}},\r\n  year      = {2013},\r\n  author    = {Leali, Francesco and Pellicciari, Marcello and Pini, Fabio and Vergnano, Alberto and Berselli, Giovanni},\r\n  volume    = {371},\r\n  type      = {(D) Book Chapters},\r\n  isbn      = {9783642392221},\r\n  abstract  = {Industrial robotics provides high flexibility and reconfigurability, cost effectiveness and user friendly programming for many applications but still lacks in accuracy. An effective workcell calibration reduces the errors in robotic manufacturing and contributes to extend the use of industrial robots to perform high quality finishing of complex parts in the aerospace industry. A novel workcell calibration method is embedded in an integrated design framework for an in-depth exploitation of CAD-based simulation and offline programming. The method is composed of two steps: a first offline calibration of the workpiece-independent elements in the workcell layout and a final automated online calibration of workpiece-dependent elements. The method is finally applied to a robotic workcell for finishing aluminum housings of aerospace gear transmissions, characterized by complex and non-repetitive shapes, and by severe dimensional and geometrical accuracy demands. Experimental results demonstrate enhanced performances of the robotic workcell and improved final quality of the housings. {\\textcopyright} Springer-Verlag Berlin Heidelberg 2013.},\r\n  booktitle = {Communications in Computer and Information Science},\r\n  doi       = {10.1007/978-3-642-39223-8_4},\r\n  issn      = {18650929},\r\n  keywords  = {Aerospace industry,Industrial robotics,Integrated design,Workcell calibration},\r\n  url       = {http://link.springer.com/10.1007/978-3-642-39223-8{\\_}4},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2013_4.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Industrial robotics provides high flexibility and reconfigurability, cost effectiveness and user friendly programming for many applications but still lacks in accuracy. An effective workcell calibration reduces the errors in robotic manufacturing and contributes to extend the use of industrial robots to perform high quality finishing of complex parts in the aerospace industry. A novel workcell calibration method is embedded in an integrated design framework for an in-depth exploitation of CAD-based simulation and offline programming. The method is composed of two steps: a first offline calibration of the workpiece-independent elements in the workcell layout and a final automated online calibration of workpiece-dependent elements. The method is finally applied to a robotic workcell for finishing aluminum housings of aerospace gear transmissions, characterized by complex and non-repetitive shapes, and by severe dimensional and geometrical accuracy demands. Experimental results demonstrate enhanced performances of the robotic workcell and improved final quality of the housings. © Springer-Verlag Berlin Heidelberg 2013.\n
\n\n\n
\n\n\n
\n \n\n \n \n Vertechy, R; Berselli, G; Castelli, V P.; and Bergamasco, M\n\n\n \n \n \n \n \n Electro-Elastic Continuum Models for Electrostrictive Elastomers.\n \n \n \n \n\n\n \n\n\n\n Volume 12 . Electro-Elastic Continuum Models for Electrostrictive Elastomers, pages 453–491. Springer, Advances in Elastomers I, Blends and Interpenetrating Networks, 2013.\n \n\n\n\n
\n\n\n\n \n \n \"Electro-ElasticPaper\n  \n \n \n \"Electro-Elastic paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InBook{B9,\r\n  pages     = {453--491},\r\n  title     = {{Electro-Elastic Continuum Models for Electrostrictive Elastomers}},\r\n  publisher = {Springer, Advances in Elastomers I, Blends and Interpenetrating Networks},\r\n  year      = {2013},\r\n  author    = {Vertechy, R and Berselli, G and Castelli, V Parenti and Bergamasco, M},\r\n  volume    = {12},\r\n  type      = {(D) Book Chapters},\r\n  isbn      = {978-3-642-20927-7},\r\n  abstract  = {A continuum finite-deformation model is described for the study of the isothermal electro-elastic deformations of electrostrictive elastomers. The model comprises general balance equations of motion, electrostatics and electro- mechanical energy, and together with phenomenological invariant-based consti- tutive relations. The model is presented in both Eulerian (spatial) and Lagrangian (material) description. Specialization of the considered model is also presented for ‘‘Dielectric Elastomers'', which are a specific class of electrostrictive elastomers having dielectric properties independent of deformation.},\r\n  booktitle = {Springer, Advances in Elastomers I, Blends and Interpenetrating Networks},\r\n  doi       = {10.1007/978-3-642-20928-4},\r\n  url       = {http://link.springer.com/10.1007/978-3-642-20928-4},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2011_S1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n A continuum finite-deformation model is described for the study of the isothermal electro-elastic deformations of electrostrictive elastomers. The model comprises general balance equations of motion, electrostatics and electro- mechanical energy, and together with phenomenological invariant-based consti- tutive relations. The model is presented in both Eulerian (spatial) and Lagrangian (material) description. Specialization of the considered model is also presented for ‘‘Dielectric Elastomers'', which are a specific class of electrostrictive elastomers having dielectric properties independent of deformation.\n
\n\n\n
\n\n\n
\n \n\n \n \n Pasila, F; Vertechy, R; Berselli, G; and Castelli, V P\n\n\n \n \n \n \n \n Inverse Static Analysis of Massive Parallel Arrays of Three- State Actuators via Artificial Intelligence.\n \n \n \n \n\n\n \n\n\n\n Volume 544 . Inverse Static Analysis of Massive Parallel Arrays of Three- State Actuators via Artificial Intelligence, pages 43–50. 2013.\n \n\n\n\n
\n\n\n\n \n \n \"InversePaper\n  \n \n \n \"Inverse paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InBook{B8,\r\n  pages     = {43--50},\r\n  title     = {{Inverse Static Analysis of Massive Parallel Arrays of Three- State Actuators via Artificial Intelligence}},\r\n  year      = {2013},\r\n  author    = {Pasila, F and Vertechy, R and Berselli, G and Castelli, V P},\r\n  volume    = {544},\r\n  type      = {(D) Book Chapters},\r\n  abstract  = {Massive parallel arrays of discrete actuators are force- regulated robots that undergo continuous motions despite being commanded through a large but finite number of states only. Real- time control of such systems requires fast and efficient methods for solving their inverse static analysis, which is a challenging problem. Artificial intelligence methods are investigated here for the on-line computation of the inverse static analysis of a planar parallel array featuring eight three-state force actuators and possessing one degree of revolute motion. 1},\r\n  annote    = {cited By 0},\r\n  doi       = {10.1007/978-3-7091-1379-0_6},\r\n  journal   = {CISM International Centre for Mechanical Sciences, Courses and Lectures},\r\n  url       = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85051797878{\\&}doi=10.1007{\\%}2F978-3-7091-1379-0{\\_}6{\\&}partnerID=40{\\&}md5=81184af2a1f60a22509bc3c027bd3a02},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2013_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Massive parallel arrays of discrete actuators are force- regulated robots that undergo continuous motions despite being commanded through a large but finite number of states only. Real- time control of such systems requires fast and efficient methods for solving their inverse static analysis, which is a challenging problem. Artificial intelligence methods are investigated here for the on-line computation of the inverse static analysis of a planar parallel array featuring eight three-state force actuators and possessing one degree of revolute motion. 1\n
\n\n\n
\n\n\n
\n \n\n \n \n Leali, F.; Pellicciari, M.; Pini, F.; Berselli, G.; and Vergnano, A.\n\n\n \n \n \n \n \n An Offline Programming Method for the Robotic Deburring of Aerospace Components.\n \n \n \n \n\n\n \n\n\n\n Volume 371 . An Offline Programming Method for the Robotic Deburring of Aerospace Components, pages 1–13. 2013.\n \n\n\n\n
\n\n\n\n \n \n \"AnPaper\n  \n \n \n \"An paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InBook{B7,\r\n  pages     = {1--13},\r\n  title     = {{An Offline Programming Method for the Robotic Deburring of Aerospace Components}},\r\n  year      = {2013},\r\n  author    = {Leali, Francesco and Pellicciari, Marcello and Pini, Fabio and Berselli, Giovanni and Vergnano, Alberto},\r\n  volume    = {371},\r\n  type      = {(D) Book Chapters},\r\n  isbn      = {9783642392221},\r\n  abstract  = {Deburring of aerospace components is a complex task in case of large single pieces designed and optimized to deliver many mechanical functions. A constant high quality requires accurate 3D surface contouring operations with engineered tool compliance and cutting power. Moreover, aeronautic cast part production is characterized by small lot sizes with high variability of geometries and defects. Despite robots are conceived to provide the necessary flexibility, reconfigurability and efficiency, most robotic workcells are very limited by too long programming and setup times, especially at changeover. The paper reports a design method dealing with the integrated development of process and production system, and analyzes and compares a CAD-based and a digitizer-based offline programming strategy. The deburring of gear transmission housings for aerospace applications serves as a severe test field. The strategies are compared by the involved costs and times, learning easiness, production downtimes and machining accuracy. The results show how the reconfigurability of the system together with the exploitation of offline programming tools improves the robotic deburring process. {\\textcopyright} Springer-Verlag Berlin Heidelberg 2013.},\r\n  booktitle = {Communications in Computer and Information Science},\r\n  doi       = {10.1007/978-3-642-39223-8_1},\r\n  issn      = {18650929},\r\n  keywords  = {CAD-based tools,Digitizers,Industrial robotics,Integrated design,Offline programming},\r\n  url       = {http://link.springer.com/10.1007/978-3-642-39223-8{\\_}1},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2013_3.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Deburring of aerospace components is a complex task in case of large single pieces designed and optimized to deliver many mechanical functions. A constant high quality requires accurate 3D surface contouring operations with engineered tool compliance and cutting power. Moreover, aeronautic cast part production is characterized by small lot sizes with high variability of geometries and defects. Despite robots are conceived to provide the necessary flexibility, reconfigurability and efficiency, most robotic workcells are very limited by too long programming and setup times, especially at changeover. The paper reports a design method dealing with the integrated development of process and production system, and analyzes and compares a CAD-based and a digitizer-based offline programming strategy. The deburring of gear transmission housings for aerospace applications serves as a severe test field. The strategies are compared by the involved costs and times, learning easiness, production downtimes and machining accuracy. The results show how the reconfigurability of the system together with the exploitation of offline programming tools improves the robotic deburring process. © Springer-Verlag Berlin Heidelberg 2013.\n
\n\n\n
\n\n\n
\n \n\n \n \n Berselli, G.; and Vassura, G.\n\n\n \n \n \n \n \n Design Solutions and Methods for Robotic Hands that Can Help Prosthetic Hands Development.\n \n \n \n \n\n\n \n\n\n\n Design Solutions and Methods for Robotic Hands that Can Help Prosthetic Hands Development, pages 78–91. BENTHAM SCIENCE PUBLISHERS, oct 2012.\n \n\n\n\n
\n\n\n\n \n \n \"DesignPaper\n  \n \n \n \"Design paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InBook{B6,\r\n  pages     = {78--91},\r\n  title     = {{Design Solutions and Methods for Robotic Hands that Can Help Prosthetic Hands Development}},\r\n  publisher = {BENTHAM SCIENCE PUBLISHERS},\r\n  year      = {2012},\r\n  author    = {Berselli, G. and Vassura, G.},\r\n  type      = {(D) Book Chapters},\r\n  month     = {oct},\r\n  abstract  = {After introductory considerations on the main functional and design differences between anthropomorphic hands conceived as robotic end effectors or as prostheses, this chapter presents two topics related to advances in robotic hand design that seem transfer- able to prosthetic hands, in order to increase their functional capability yet coping with specific constraints like simplicity, lightweight, cost effectiveness, robustness, etc. The development of a bio-inspired robotic hand, called UB Hand IV, based on an endoskeletal articulated structure, actuated by tendons and covered by a soft dermal-epidermal layer is briefly illustrated, in order to show the potential of its design solutions to be transferred into prosthetic hands. The first part of the chapter presents alternative design approaches for articulated joints and finger structures based on purposely designed compliant hinges. The basic problem of compliant hinges adoption in robotic structures, that is the limitation ofsecondary compliance effects, is analyzed and considerations about comparative metrics are proposed. Two hinge morphologies which show promising features are critically compared and pros and cons the production of fully integral fingers with compliant joints are discussed. The second part reports on the development of thin soft covers for robotic (and prosthetic) hands capable of strictly mimicking the actual compliance of human finger pulps. A design method, called by the authors Differentiated Layer Design (DLD), is reviewed and its potential for application on both robotic and prosthetic devices is underlined. Conclusions summarize the main aspects that encourage the transfer of the described results from the world of robots to that ofhuman portable devices.},\r\n  booktitle = {Grasping the Future: Advances in Powered Upper Limb Prosthetics},\r\n  doi       = {10.2174/978160805439811201010078},\r\n  keywords  = {design methods,large displacement compliant joints,prosthetic hands,robotic,soft fingertips},\r\n  url       = {http://www.eurekaselect.com/node/103367},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2012_S1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n After introductory considerations on the main functional and design differences between anthropomorphic hands conceived as robotic end effectors or as prostheses, this chapter presents two topics related to advances in robotic hand design that seem transfer- able to prosthetic hands, in order to increase their functional capability yet coping with specific constraints like simplicity, lightweight, cost effectiveness, robustness, etc. The development of a bio-inspired robotic hand, called UB Hand IV, based on an endoskeletal articulated structure, actuated by tendons and covered by a soft dermal-epidermal layer is briefly illustrated, in order to show the potential of its design solutions to be transferred into prosthetic hands. The first part of the chapter presents alternative design approaches for articulated joints and finger structures based on purposely designed compliant hinges. The basic problem of compliant hinges adoption in robotic structures, that is the limitation ofsecondary compliance effects, is analyzed and considerations about comparative metrics are proposed. Two hinge morphologies which show promising features are critically compared and pros and cons the production of fully integral fingers with compliant joints are discussed. The second part reports on the development of thin soft covers for robotic (and prosthetic) hands capable of strictly mimicking the actual compliance of human finger pulps. A design method, called by the authors Differentiated Layer Design (DLD), is reviewed and its potential for application on both robotic and prosthetic devices is underlined. Conclusions summarize the main aspects that encourage the transfer of the described results from the world of robots to that ofhuman portable devices.\n
\n\n\n
\n\n\n
\n \n\n \n \n Berselli, G.; Vertechy, R.; Pellicciari, M.; and Vassur, G.\n\n\n \n \n \n \n \n Hyperelastic Modeling of Rubber-Like Photopolymers for Additive Manufacturing Processes.\n \n \n \n \n\n\n \n\n\n\n Hyperelastic Modeling of Rubber-Like Photopolymers for Additive Manufacturing Processes, pages 135–153. InTech, sep 2011.\n \n\n\n\n
\n\n\n\n \n \n \"HyperelasticPaper\n  \n \n \n \"Hyperelastic paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InBook{B5,\r\n  pages     = {135--153},\r\n  title     = {{Hyperelastic Modeling of Rubber-Like Photopolymers for Additive Manufacturing Processes}},\r\n  publisher = {InTech},\r\n  year      = {2011},\r\n  author    = {Berselli, Giovanni and Vertechy, Rocco and Pellicciari, Marcello and Vassur, Gabriele},\r\n  type      = {(D) Book Chapters},\r\n  month     = {sep},\r\n  isbn      = {978-953-307-970-7},\r\n  booktitle = {Rapid Prototyping Technology - Principles and Functional Requirements},\r\n  doi       = {10.5772/20174},\r\n  url       = {http://www.intechopen.com/books/rapid-prototyping-technology-principles-and-functional- requirements/hyperelastic-modeling-of-rubber-like-photopolymers-for-additive-manufacturing-processes{\\%}5Cn{\\%}3Ca href={\\%}22http://www.intechopen.com/books/rapid-prototyping-},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2011_S2.pdf},\r\n}\r\n\r\n
\n
\n\n\n\n
\n\n\n
\n \n\n \n \n Vertechy, R; Berselli, G; Bergamasco, M; and Castelli, V P.\n\n\n \n \n \n \n \n Advances in Robot Kinematics: Motion in Man and Machine.\n \n \n \n \n\n\n \n\n\n\n Advances in Robot Kinematics: Motion in Man and Machine, pages 127–136. Lenarcic, J.; and Stanisic, M. M., editor(s). Springer Netherlands, Dordrecht, 2010.\n \n\n\n\n
\n\n\n\n \n \n \"AdvancesPaper\n  \n \n \n \"Advances paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InBook{B4,\r\n  pages     = {127--136},\r\n  title     = {{Advances in Robot Kinematics: Motion in Man and Machine}},\r\n  publisher = {Springer Netherlands},\r\n  year      = {2010},\r\n  author    = {Vertechy, R and Berselli, G and Bergamasco, M and Castelli, V Parenti},\r\n  editor    = {Lenarcic, Jadran and Stanisic, Michael M.},\r\n  number    = {1},\r\n  type      = {(D) Book Chapters},\r\n  address   = {Dordrecht},\r\n  isbn      = {978-90-481-9261-8},\r\n  abstract  = {The potentialities of a manipulator concept based on isotropic translational parallel mechanisms and agonistic-antagonistic dielectric elastomer actuation are investigated in the con- text of human-machine interfaces. Static analysis reveals that this manipulator concept is well suited to the development of novel generation of cost-effective interactive robots with low effect- ive inertia and human-like performance and behaviour. Key},\r\n  booktitle = {Advances in Robot Kinematics: Motion in Man and Machine},\r\n  doi       = {10.1007/978-90-481-9262-5},\r\n  keywords  = {dielectric elastomer,interactive robot,isotropic parallel manipulator},\r\n  url       = {http://link.springer.com/10.1007/978-90-481-9262-5},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2010_S2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n The potentialities of a manipulator concept based on isotropic translational parallel mechanisms and agonistic-antagonistic dielectric elastomer actuation are investigated in the con- text of human-machine interfaces. Static analysis reveals that this manipulator concept is well suited to the development of novel generation of cost-effective interactive robots with low effect- ive inertia and human-like performance and behaviour. Key\n
\n\n\n
\n\n\n
\n \n\n \n \n Berselli, G.; Palli, G.; Falconi, R.; Vassura, G.; and Melchiorri, C.\n\n\n \n \n \n \n \n Task Analysis and Kinematic Design of a Novel Robotic Chair for the Management of Top-Shelf Vertigo.\n \n \n \n \n\n\n \n\n\n\n Volume 1 . Task Analysis and Kinematic Design of a Novel Robotic Chair for the Management of Top-Shelf Vertigo, pages 621–647. InTech, mar 2010.\n \n\n\n\n
\n\n\n\n \n \n \"TaskPaper\n  \n \n \n \"Task paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InBook{B3,\r\n  pages     = {621--647},\r\n  title     = {{Task Analysis and Kinematic Design of a Novel Robotic Chair for the Management of Top-Shelf Vertigo}},\r\n  publisher = {InTech},\r\n  year      = {2010},\r\n  author    = {Berselli, Giovanni and Palli, Gianluca and Falconi, Riccardo and Vassura, Gabriele and Melchiorri, Claudio},\r\n  volume    = {1},\r\n  type      = {(D) Book Chapters},\r\n  month     = {mar},\r\n  booktitle = {Robot Manipulators Trends and Development},\r\n  doi       = {10.5772/9207},\r\n  url       = {http://www.intechopen.com/books/robot-manipulators-trends-and-development/task-analysis-and-kinematic-design-of-a-novel-robotic-chair-for-the-management-of-top-shelf-vertigo},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2008_S1.pdf},\r\n}\r\n\r\n
\n
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\n\n\n
\n \n\n \n \n Berselli, G.; Vassura, G.; Parenti, V.; and Vertechy, R.\n\n\n \n \n \n \n \n On Designing Compliant Actuators Based On Dielectric Elastomers for Robotic Applications.\n \n \n \n \n\n\n \n\n\n\n On Designing Compliant Actuators Based On Dielectric Elastomers for Robotic Applications, pages 523–551. InTech, apr 2010.\n \n\n\n\n
\n\n\n\n \n \n \"OnPaper\n  \n \n \n \"On paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InBook{B2,\r\n  pages     = {523--551},\r\n  title     = {{On Designing Compliant Actuators Based On Dielectric Elastomers for Robotic Applications}},\r\n  publisher = {InTech},\r\n  year      = {2010},\r\n  author    = {Berselli, Giovanni and Vassura, Gabriele and Parenti, Vincenzo and Vertechy, Rocco},\r\n  type      = {(D) Book Chapters},\r\n  month     = {apr},\r\n  booktitle = {Robot Manipulators New Achievements},\r\n  doi       = {10.5772/9311},\r\n  url       = {http://www.intechopen.com/books/robot-manipulators-new-achievements/on-designing-compliant-actuators-based-on-dielectric-elastomers-for-robotic-applications},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2010_S1.pdf},\r\n}\r\n\r\n
\n
\n\n\n\n
\n\n\n
\n \n\n \n \n Berselli, G.; Vertechy, R.; Vassura, G.; and Castelli, V. P.\n\n\n \n \n \n \n \n A Compound-Structure Frame for Improving the Performance of a Dielectric Elastomer Actuator.\n \n \n \n \n\n\n \n\n\n\n A Compound-Structure Frame for Improving the Performance of a Dielectric Elastomer Actuator, pages 291–299. Springer Netherlands, Dordrecht, 2008.\n \n\n\n\n
\n\n\n\n \n \n \"APaper\n  \n \n \n \"A paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InBook{B1,\r\n  pages     = {291--299},\r\n  title     = {{A Compound-Structure Frame for Improving the Performance of a Dielectric Elastomer Actuator}},\r\n  publisher = {Springer Netherlands},\r\n  year      = {2008},\r\n  author    = {Berselli, Giovanni and Vertechy, Rocco and Vassura, Gabriele and Castelli, Vincenzo Parenti},\r\n  type      = {(D) Book Chapters},\r\n  address   = {Dordrecht},\r\n  isbn      = {9781402085994},\r\n  abstract  = {Actuators based on Dielectric Elastomer films have been rising as a promising technology in robotic and mechatronic applications. Their overall behavior is highly influenced by the geometry and structural properties of the frame that is coupled with the active film. In this paper, a compound-structure compliant frame is proposed with the aim of obtaining an actuator capable of providing a quasi-constant force over a certain range of motion. A diamond shaped frame, designed to support the pre-stretched active film, is coupled with a delta shaped element, designed to modify the overall actuator stiffness and improve its performance. Both the diamond and the delta element are fully compliant mechanisms whose main structural parameters are calculated using pseudo-rigid-body models and then verified through finite element analysis. Simulations show promising performance of the proposed actuator. {\\textcopyright} 2008 Springer Science+Business Media B.V.},\r\n  booktitle = {Advances in Robot Kinematics: Analysis and Design},\r\n  doi       = {10.1007/978-1-4020-8600-7_31},\r\n  keywords  = {compliant mechanisms,dielectric elastomer actuators,frame design},\r\n  url       = {http://link.springer.com/10.1007/978-1-4020-8600-7{\\_}31},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/B2008_1.pdf},\r\n}\r\n\r\n
\n
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\n Actuators based on Dielectric Elastomer films have been rising as a promising technology in robotic and mechatronic applications. Their overall behavior is highly influenced by the geometry and structural properties of the frame that is coupled with the active film. In this paper, a compound-structure compliant frame is proposed with the aim of obtaining an actuator capable of providing a quasi-constant force over a certain range of motion. A diamond shaped frame, designed to support the pre-stretched active film, is coupled with a delta shaped element, designed to modify the overall actuator stiffness and improve its performance. Both the diamond and the delta element are fully compliant mechanisms whose main structural parameters are calculated using pseudo-rigid-body models and then verified through finite element analysis. Simulations show promising performance of the proposed actuator. © 2008 Springer Science+Business Media B.V.\n
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\n  \n (E) Conference Proceedings\n \n \n (50)\n \n \n
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\n \n\n \n \n Bilancia, P.; Geraci, A.; and Berselli, G.\n\n\n \n \n \n \n \n On the Design of a Long-Stroke Beam-Based Compliant Mechanism Providing Quasi-Constant Force.\n \n \n \n \n\n\n \n\n\n\n In ASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2018, pages 1–9, 2019. \n \n\n\n\n
\n\n\n\n \n \n \"On paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Bilancia2019,\r\n  author    = {Bilancia, Pietro and Geraci, Alessandro and Berselli, Giovanni},\r\n  title     = {{On the Design of a Long-Stroke Beam-Based Compliant Mechanism Providing Quasi-Constant Force}},\r\n  booktitle = {ASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2018},\r\n  year      = {2019},\r\n  pages     = {1--9},\r\n  abstract  = {In this paper the design of a linear long-stroke quasi- constant force compliant mechanism (CM) is presented and dis- cussed. Starting from a flexure-based slider-crank mechanism, providing the required constant force within a rather limited deflection range, the paper reports about the shape optimiza- tion carried out with the specific aim of extending the available CM operative range. The proposed device is suitable in sev- eral precision manipulation systems, which require to maintain a constant-force at their contact interface with the manipulated object. Force regulation is generally achieved by means ofcom- plex control algorithms and related sensory apparatus, resulting in a flexible behavior but also in high costs. A valid alternative may be the use ofa purposely designed CM, namely a purely me- chanical system whose shape and dimensions are optimized so as to provide a force-deflection behavior characterized by zero stiffness. In the first design step, the Pseudo-Rigid Body (PRB) method is exploited to synthesize the sub-optimal compliant con- figuration, i.e. the one characterized by lumped compliance. Sec- ondly, an improved design alternative is evaluated resorting to an integrated software framework, comprising Matlab and AN- SYS APDL, and capable ofperforming non-linear structural op- timizations. The new embodiment makes use ofa variable thick- ness beam, whose shape and dimensions have been optimized so as to provide a constant reaction force in an extended range. Finally, a physical prototype ofthe beam-based configuration is produced and tested, experimentally validating the proposed de- sign method.},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2019_S3.pdf},\r\n}\r\n\r\n
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\n In this paper the design of a linear long-stroke quasi- constant force compliant mechanism (CM) is presented and dis- cussed. Starting from a flexure-based slider-crank mechanism, providing the required constant force within a rather limited deflection range, the paper reports about the shape optimiza- tion carried out with the specific aim of extending the available CM operative range. The proposed device is suitable in sev- eral precision manipulation systems, which require to maintain a constant-force at their contact interface with the manipulated object. Force regulation is generally achieved by means ofcom- plex control algorithms and related sensory apparatus, resulting in a flexible behavior but also in high costs. A valid alternative may be the use ofa purposely designed CM, namely a purely me- chanical system whose shape and dimensions are optimized so as to provide a force-deflection behavior characterized by zero stiffness. In the first design step, the Pseudo-Rigid Body (PRB) method is exploited to synthesize the sub-optimal compliant con- figuration, i.e. the one characterized by lumped compliance. Sec- ondly, an improved design alternative is evaluated resorting to an integrated software framework, comprising Matlab and AN- SYS APDL, and capable ofperforming non-linear structural op- timizations. The new embodiment makes use ofa variable thick- ness beam, whose shape and dimensions have been optimized so as to provide a constant reaction force in an extended range. Finally, a physical prototype ofthe beam-based configuration is produced and tested, experimentally validating the proposed de- sign method.\n
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\n \n\n \n \n Giovanni, B.; Matteo, B.; and Roberto, R.\n\n\n \n \n \n \n \n A swift Clench-and-Release Device for bicycles ' wheels with disk brakes.\n \n \n \n \n\n\n \n\n\n\n In JCM2019, Joint Conference on Mechanical, Design Engineering & Advanced Manufacturing, pages 1–10, 2019. \n \n\n\n\n
\n\n\n\n \n \n \"A paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InProceedings{Giovanni2019,\r\n  author    = {Giovanni, Berselli and Matteo, Bonomi and Roberto, Razzoli},\r\n  title     = {{A swift Clench-and-Release Device for bicycles ' wheels with disk brakes}},\r\n  booktitle = {JCM2019, Joint Conference on Mechanical, Design Engineering {\\&} Advanced Manufacturing},\r\n  year      = {2019},\r\n  pages     = {1--10},\r\n  abstract  = {The paper describes a novel Clench-and-Release Device (CRD), which can be used to quickly replace the rear wheels of bikes equipped with disk brakes, as well as being suitable for front wheels. Since a quick wheel replacement is a pressing demand during competitions, the CRD reduces time wasted in situations like flat tire replacement. In parallel, it can be useful also for amateur bikers, who desire a simple way to lock/release a wheel without the risk of getting dirty or being unable of properly aligning brake's disk and pads. In fact, thanks to the CRD, both brake and pinion packs are kept in place at all times and the chain remains engaged with the gears, even after wheel removal. Although similar devices can be found on the market, the proposed CRD provides an improved design since: i) pinions and brake are placed on the same side with respect to the wheel symmetry plane perpendicular to the wheel axis of rotation; ii) the front and the rear wheel share the same hub; iii) manual operations are definitely easier; iv) the wheels are compatible with different types of transmission; v) the brake discs are more protected in case of crashing. A patent for the Italian region has been filed. Keywords:},\r\n  keywords  = {computer-aided design,fast removal,through axle shaft,user centered design,wheel quick release,wheels},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2019_S2.pdf},\r\n}\r\n\r\n
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\n The paper describes a novel Clench-and-Release Device (CRD), which can be used to quickly replace the rear wheels of bikes equipped with disk brakes, as well as being suitable for front wheels. Since a quick wheel replacement is a pressing demand during competitions, the CRD reduces time wasted in situations like flat tire replacement. In parallel, it can be useful also for amateur bikers, who desire a simple way to lock/release a wheel without the risk of getting dirty or being unable of properly aligning brake's disk and pads. In fact, thanks to the CRD, both brake and pinion packs are kept in place at all times and the chain remains engaged with the gears, even after wheel removal. Although similar devices can be found on the market, the proposed CRD provides an improved design since: i) pinions and brake are placed on the same side with respect to the wheel symmetry plane perpendicular to the wheel axis of rotation; ii) the front and the rear wheel share the same hub; iii) manual operations are definitely easier; iv) the wheels are compatible with different types of transmission; v) the brake discs are more protected in case of crashing. A patent for the Italian region has been filed. Keywords:\n
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\n \n\n \n \n Chen, Y.; Agostini, L.; Moretti, G.; Berselli, G.; Fontana, M.; and Vertechy, R.\n\n\n \n \n \n \n \n Fatigue life performances of silicone elastomer membranes for dielectric elastomer transducers: preliminary results.\n \n \n \n \n\n\n \n\n\n\n In Bar-Cohen, Y.; and Anderson, I. A., editor(s), Electroactive Polymer Actuators and Devices (EAPAD) XXI, volume 1096616, pages 27, mar 2019. SPIE\n \n\n\n\n
\n\n\n\n \n \n \"FatiguePaper\n  \n \n \n \"Fatigue paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Chen2019,\r\n  author    = {Chen, Yi and Agostini, Lorenzo and Moretti, Giacomo and Berselli, Giovanni and Fontana, Marco and Vertechy, Rocco},\r\n  title     = {{Fatigue life performances of silicone elastomer membranes for dielectric elastomer transducers: preliminary results}},\r\n  booktitle = {Electroactive Polymer Actuators and Devices (EAPAD) XXI},\r\n  year      = {2019},\r\n  editor    = {Bar-Cohen, Yoseph and Anderson, Iain A.},\r\n  volume    = {1096616},\r\n  number    = {March},\r\n  pages     = {27},\r\n  month     = {mar},\r\n  publisher = {SPIE},\r\n  abstract  = {Dielectric Elastomer Transducers (DETs) are a promising technology for the development of actuators, generators and sensors with high performance and low cost. Practical application and economic viability of DETs is strongly affected by their reliability and lifetime, which depend on the maximum strain and electrical loads that are cyclically applied on such devices. To date, only limited information is available on the fatigue life performances of dielectric elastomer materials and of the transducers made thereof. This paper reports on a first lifetime constant electric-stress test campaign conducted on 38 free-expanding frame-stretched circular DET specimens, made of the silicone elastomer film Elastosil{\\textregistered} 2030 250/150 by Wacker with blade-casted carbon-black silicone-elastomer electrodes, that have been subjected to nearly square wave electric field signals with 1 Hz frequency, 50{\\%} duty cycle and with amplitudes ranging from 65 MV/m to 80 MV/m.},\r\n  doi       = {10.1117/12.2515312},\r\n  isbn      = {9781510625877},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {https://www.spiedigitallibrary.org/conference-proceedings-of-spie/10966/2515312/Fatigue-life-performances-of-silicone-elastomer-membranes-for-dielectric-elastomer/10.1117/12.2515312.full},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2019_S1.pdf},\r\n}\r\n\r\n
\n
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\n Dielectric Elastomer Transducers (DETs) are a promising technology for the development of actuators, generators and sensors with high performance and low cost. Practical application and economic viability of DETs is strongly affected by their reliability and lifetime, which depend on the maximum strain and electrical loads that are cyclically applied on such devices. To date, only limited information is available on the fatigue life performances of dielectric elastomer materials and of the transducers made thereof. This paper reports on a first lifetime constant electric-stress test campaign conducted on 38 free-expanding frame-stretched circular DET specimens, made of the silicone elastomer film Elastosil® 2030 250/150 by Wacker with blade-casted carbon-black silicone-elastomer electrodes, that have been subjected to nearly square wave electric field signals with 1 Hz frequency, 50% duty cycle and with amplitudes ranging from 65 MV/m to 80 MV/m.\n
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\n \n\n \n \n Bilancia, P.; Berselli, G.; Scarcia, U.; and Palli, G.\n\n\n \n \n \n \n \n Design of a Beam-Based Variable Stiffness Actuator via Shape Optimization in a CAD/CAE Environment.\n \n \n \n \n\n\n \n\n\n\n In ASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2018, pages V001T03A013, sep 2018. ASME\n \n\n\n\n
\n\n\n\n \n \n \"DesignPaper\n  \n \n \n \"Design paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Bilancia2018,\r\n  author    = {Bilancia, Pietro and Berselli, Giovanni and Scarcia, Umberto and Palli, Gianluca},\r\n  title     = {{Design of a Beam-Based Variable Stiffness Actuator via Shape Optimization in a CAD/CAE Environment}},\r\n  booktitle = {ASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2018},\r\n  year      = {2018},\r\n  pages     = {V001T03A013},\r\n  month     = {sep},\r\n  publisher = {ASME},\r\n  abstract  = {Industrial robots are commonly designed to be very fast and stiff in order to achieve extremely precise position control capa- bilities. Nonetheless, high speeds and power do not allow for a safe physical interaction between robots and humans. With the exception of the latest generation lightweight arms, purposely design for human-robot collaborative tasks, safety devices shall be employed when workers enter the robots workspace, in or- der to reduce the chances of injuries. In this context, Variable Stiffness Actuators (VSA) potentially represent an effective solu- tion for increasing robot safety. In light of this consideration, the present paper describes the design optimization ofa VSA ar- chitecture previously proposed by the authors. In this novel em- bodiment, the VSA can achieve stiffness modulation via the use ofa pair of compliant mechanisms with distributed compliance, which act as nonlinear springs with proper torque-deflection characteristic. Such elastic elements are composed of slender beams whose neutral axis is described by a spline curve with non-trivial shape. The beam geometry is determined by lever- aging on a CAD/CAE framework allowing for the shape opti- mization of complex flexures. The design method makes use of the modeling and simulation capabilities of a parametric CAD software seamlessly connected to a FEM tool (i.e. Ansys Work- bench). For validation purposes, proof-concept 3D printed pro- totypes of both non-linear elastic element and overall VSA are finally produced and tested. Experimental results fully confirm that the compliant mechanism behaves as expected.},\r\n  doi       = {10.1115/SMASIS2018-8053},\r\n  isbn      = {978-0-7918-5194-4},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?doi=10.1115/SMASIS2018-8053},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2018_1.pdf},\r\n}\r\n\r\n
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\n Industrial robots are commonly designed to be very fast and stiff in order to achieve extremely precise position control capa- bilities. Nonetheless, high speeds and power do not allow for a safe physical interaction between robots and humans. With the exception of the latest generation lightweight arms, purposely design for human-robot collaborative tasks, safety devices shall be employed when workers enter the robots workspace, in or- der to reduce the chances of injuries. In this context, Variable Stiffness Actuators (VSA) potentially represent an effective solu- tion for increasing robot safety. In light of this consideration, the present paper describes the design optimization ofa VSA ar- chitecture previously proposed by the authors. In this novel em- bodiment, the VSA can achieve stiffness modulation via the use ofa pair of compliant mechanisms with distributed compliance, which act as nonlinear springs with proper torque-deflection characteristic. Such elastic elements are composed of slender beams whose neutral axis is described by a spline curve with non-trivial shape. The beam geometry is determined by lever- aging on a CAD/CAE framework allowing for the shape opti- mization of complex flexures. The design method makes use of the modeling and simulation capabilities of a parametric CAD software seamlessly connected to a FEM tool (i.e. Ansys Work- bench). For validation purposes, proof-concept 3D printed pro- totypes of both non-linear elastic element and overall VSA are finally produced and tested. Experimental results fully confirm that the compliant mechanism behaves as expected.\n
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\n \n\n \n \n Ottonello, G.; Berselli, G.; Bruzzone, L.; and Fanghella, P.\n\n\n \n \n \n \n \n Functional Design of Elloboat, a Tracked Vehicle for Launching and Beaching of Watercrafts and Small Boats.\n \n \n \n \n\n\n \n\n\n\n In 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), pages 1–8, jul 2018. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"FunctionalPaper\n  \n \n \n \"Functional paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
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@InProceedings{Ottonello2018,\r\n  author    = {Ottonello, Giovanni and Berselli, Giovanni and Bruzzone, Luca and Fanghella, Pietro},\r\n  title     = {{Functional Design of Elloboat, a Tracked Vehicle for Launching and Beaching of Watercrafts and Small Boats}},\r\n  booktitle = {2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)},\r\n  year      = {2018},\r\n  pages     = {1--8},\r\n  month     = {jul},\r\n  publisher = {IEEE},\r\n  abstract  = {—This paper discusses the mechanical architecture of Elloboat, an unmanned Tracked Vehicle (TV) for launching and beaching of watercrafts and small boats (up to a length of 3.5 meters). The mechanical architecture of Elloboat comprises a central saddle connected to two lateral tracks by parallelogram linkages, which may be driven by linear or rotary actuators to lift/lower the payload. The TV is able to pick the boat form a support, to travel along the beach and to perform launching while almost completely submerged. On the contrary, during beaching, the boat is relieved from the water and then transported to storage. The Elloboat mechanical architecture is redundantly constrained and actuated. In the following, after a detailed description of the device, the TV kinematic and static behaviours according to different actuation schemes are discussed on the basis of a mobility analysis and then by multibody simulations, with rigid and flexible models of joints.},\r\n  doi       = {10.1109/MESA.2018.8449173},\r\n  isbn      = {978-1-5386-4643-4},\r\n  keywords  = {beaching,launching,multibody simulation,small boat,tracked vehicle,watercraft},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {https://ieeexplore.ieee.org/document/8449173/},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2018_3.pdf},\r\n}\r\n\r\n
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\n —This paper discusses the mechanical architecture of Elloboat, an unmanned Tracked Vehicle (TV) for launching and beaching of watercrafts and small boats (up to a length of 3.5 meters). The mechanical architecture of Elloboat comprises a central saddle connected to two lateral tracks by parallelogram linkages, which may be driven by linear or rotary actuators to lift/lower the payload. The TV is able to pick the boat form a support, to travel along the beach and to perform launching while almost completely submerged. On the contrary, during beaching, the boat is relieved from the water and then transported to storage. The Elloboat mechanical architecture is redundantly constrained and actuated. In the following, after a detailed description of the device, the TV kinematic and static behaviours according to different actuation schemes are discussed on the basis of a mobility analysis and then by multibody simulations, with rigid and flexible models of joints.\n
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\n \n\n \n \n Tschiersky, M; Berselli, G; Herder, J L; Brouwer, D M; and Stramigioli, S\n\n\n \n \n \n \n \n PZT-actuated compliant locking device.\n \n \n \n \n\n\n \n\n\n\n In Proceedings - 33rd ASPE Annual Meeting, pages 174–179, 2018. \n \n\n\n\n
\n\n\n\n \n \n \"PZT-actuatedPaper\n  \n \n \n \"PZT-actuated paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Tschiersky2018,\r\n  author    = {Tschiersky, M and Berselli, G and Herder, J L and Brouwer, D M and Stramigioli, S},\r\n  title     = {{PZT-actuated compliant locking device}},\r\n  booktitle = {Proceedings - 33rd ASPE Annual Meeting},\r\n  year      = {2018},\r\n  pages     = {174--179},\r\n  abstract  = {In this paper, a novel design of a fully compliant locking device is presented, for possible application in robotic actuation systems. The synthesis method based on a rigid linkage mechanism is explained, a parametrization scheme is proposed, and an optimization procedure is conducted using kinetostatic flexible multi-body analysis in conjunction with global optimization techniques. The performance of the optimized locking device design is validated via numerical simulations.},\r\n  annote    = {Export Date: 26 July 2019},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85060215577{\\&}partnerID=40{\\&}md5=5df24fffcb6e12f71a45dd4974df18cf},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2018_2.pdf},\r\n}\r\n\r\n
\n
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\n In this paper, a novel design of a fully compliant locking device is presented, for possible application in robotic actuation systems. The synthesis method based on a rigid linkage mechanism is explained, a parametrization scheme is proposed, and an optimization procedure is conducted using kinetostatic flexible multi-body analysis in conjunction with global optimization techniques. The performance of the optimized locking device design is validated via numerical simulations.\n
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\n \n\n \n \n Giovanni, B.; Mattia, D.; Enrico, P.; and Roberto, R.\n\n\n \n \n \n \n \n Conceptual Design and Feasibility Study of ACROBAT, an Autonomous Climbing Robot for Automatic Trimming of palm leaves.\n \n \n \n \n\n\n \n\n\n\n In Congreso INGEGRAF, Spain, pages 287–291, 2017. \n \n\n\n\n
\n\n\n\n \n \n \"Conceptual paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InProceedings{Giovanni2017,\r\n  author    = {Giovanni, Berselli and Mattia, Delfino and Enrico, Patrone and Roberto, Razzoli},\r\n  title     = {{Conceptual Design and Feasibility Study of ACROBAT, an Autonomous Climbing Robot for Automatic Trimming of palm leaves}},\r\n  booktitle = {Congreso INGEGRAF, Spain},\r\n  year      = {2017},\r\n  pages     = {287--291},\r\n  abstract  = {Despite the constant technological innovations, the pruning of palm trees is still carried out manually by skilled operators, with the aid of climbing devices and cutting tools. The present work stems from the need to replace humans with robots in the activities of climbing and pruning of palm trees, so as to eliminate the severe danger related to the height and the difficulty of cutting operations. Human workers are indeed exposed to risk of injury, due to possible accidental falls, cutting, skin punctures, dust inhalation, flying splinters. Pruning of palm trees has a frequency variable from 2 to 4 years. For a single pruning carried out by one operator, the cost is approximately 500 Euros. Therefore, the use of a robot, other than risks, allows decreasing costs as well. In the paper, the conceptual design of a pruning robot is presented; it basically consists of a climbing module on which it is mounted a cutting module. The cutter is capable of a continuous rotation (i.e. exceeding 360°), that allows to perform a complete cut of the dead leaves located in the lower part of the palm crown. Special care has been devoted to the intrinsic safety aspects, fast installation and ease-of-use of the robot, along with a low overall cost for both off-the- shelves components and manufacturing of custom-made structural parts. KEYWORDS:},\r\n  keywords  = {climbing robot,palm tree pruning,pruning robot,safe pruning},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2017_S1.pdf},\r\n}\r\n\r\n
\n
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\n Despite the constant technological innovations, the pruning of palm trees is still carried out manually by skilled operators, with the aid of climbing devices and cutting tools. The present work stems from the need to replace humans with robots in the activities of climbing and pruning of palm trees, so as to eliminate the severe danger related to the height and the difficulty of cutting operations. Human workers are indeed exposed to risk of injury, due to possible accidental falls, cutting, skin punctures, dust inhalation, flying splinters. Pruning of palm trees has a frequency variable from 2 to 4 years. For a single pruning carried out by one operator, the cost is approximately 500 Euros. Therefore, the use of a robot, other than risks, allows decreasing costs as well. In the paper, the conceptual design of a pruning robot is presented; it basically consists of a climbing module on which it is mounted a cutting module. The cutter is capable of a continuous rotation (i.e. exceeding 360°), that allows to perform a complete cut of the dead leaves located in the lower part of the palm crown. Special care has been devoted to the intrinsic safety aspects, fast installation and ease-of-use of the robot, along with a low overall cost for both off-the- shelves components and manufacturing of custom-made structural parts. KEYWORDS:\n
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\n \n\n \n \n Scarcia, U.; Berselli, G.; Palli, G.; and Melchiorri, C.\n\n\n \n \n \n \n \n Modeling, design, and experimental evaluation of rotational elastic joints for underactuated robotic fingers.\n \n \n \n \n\n\n \n\n\n\n In 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), pages 353–358, nov 2017. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"Modeling,Paper\n  \n \n \n \"Modeling, paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n\n\n\n
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@InProceedings{Scarcia2017,\r\n  author    = {Scarcia, Umberto and Berselli, Giovanni and Palli, Gianluca and Melchiorri, Claudio},\r\n  title     = {{Modeling, design, and experimental evaluation of rotational elastic joints for underactuated robotic fingers}},\r\n  booktitle = {2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)},\r\n  year      = {2017},\r\n  pages     = {353--358},\r\n  month     = {nov},\r\n  publisher = {IEEE},\r\n  abstract  = {{\\textcopyright} 2017 IEEE. In this paper, a novel 3D printed Rotational Joint (RJ) embedding an integrated elastic element is presented. The RJ, produced as a single piece by means of an FDM printer, comprises a traditional pin hinge coupled with a pair of spiral torsion springs, providing the desired compliance for the application at hand. Benefits of the proposed design include monolithic manufacturing and possibility to be successfully employed in robotic articulated devices requiring joint elasticity for their functioning. On the other hand, the sub-optimal RJ behavior, mainly caused by the unavoidable friction between 3D printed mating surfaces, must be accurately taken into account for design purposes. In this context, preliminary reliability tests have been performed showing promising results in terms of lifetime and negligible fatigue effects. Then, a mathematical model of the system is derived, which comprises the spring elasticity along with any frictional effects that may be due to either the pin hinge itself or the tendon transmission (frequently employed in underactuated robotic devices). The model parameters have been empirically evaluated by comparing simulated and experimental data. In addition, the last part of the paper describes how the proposed RJ can be effectively employed for the design of modular, underactuated fingers, providing three degrees of freedom and a single tendon transmission. To this end the model of the joint module proposed in this work will be the starting point for the geometry dimensioning of a finger with a desired free closure motion.},\r\n  doi       = {10.1109/HUMANOIDS.2017.8246897},\r\n  isbn      = {978-1-5386-4678-6},\r\n  issn      = {21640580},\r\n  keywords  = {Novel mechanism design,Novel actuation mechanisms,},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://ieeexplore.ieee.org/document/8246897/},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2017_1.pdf},\r\n}\r\n\r\n
\n
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\n © 2017 IEEE. In this paper, a novel 3D printed Rotational Joint (RJ) embedding an integrated elastic element is presented. The RJ, produced as a single piece by means of an FDM printer, comprises a traditional pin hinge coupled with a pair of spiral torsion springs, providing the desired compliance for the application at hand. Benefits of the proposed design include monolithic manufacturing and possibility to be successfully employed in robotic articulated devices requiring joint elasticity for their functioning. On the other hand, the sub-optimal RJ behavior, mainly caused by the unavoidable friction between 3D printed mating surfaces, must be accurately taken into account for design purposes. In this context, preliminary reliability tests have been performed showing promising results in terms of lifetime and negligible fatigue effects. Then, a mathematical model of the system is derived, which comprises the spring elasticity along with any frictional effects that may be due to either the pin hinge itself or the tendon transmission (frequently employed in underactuated robotic devices). The model parameters have been empirically evaluated by comparing simulated and experimental data. In addition, the last part of the paper describes how the proposed RJ can be effectively employed for the design of modular, underactuated fingers, providing three degrees of freedom and a single tendon transmission. To this end the model of the joint module proposed in this work will be the starting point for the geometry dimensioning of a finger with a desired free closure motion.\n
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\n \n\n \n \n Scarcia, U.; Berselli, G.; Melchiorri, C.; Ghinelli, M.; and Palli, G.\n\n\n \n \n \n \n \n Optimal Design of 3D Printed Spiral Torsion Springs.\n \n \n \n \n\n\n \n\n\n\n In ASME 2016 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2016, pages V002T03A020, sep 2016. ASME\n \n\n\n\n
\n\n\n\n \n \n \"OptimalPaper\n  \n \n \n \"Optimal paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Scarcia2016,\r\n  author    = {Scarcia, Umberto and Berselli, Giovanni and Melchiorri, Claudio and Ghinelli, Manuele and Palli, Gianluca},\r\n  title     = {{Optimal Design of 3D Printed Spiral Torsion Springs}},\r\n  booktitle = {ASME 2016 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2016},\r\n  year      = {2016},\r\n  pages     = {V002T03A020},\r\n  month     = {sep},\r\n  publisher = {ASME},\r\n  abstract  = {Spiral Torsion Springs (STS) are generally manufactured employing medium/high-carbon steel alloys shaped as thin rods with rectangular cross section. Meanwhile, plastic materials (e.g. ABS or PLA), currently used in freeform manufacturing processes, may not be suited for several applications, owing to the low material yield strength and the rather poor fatigue life. Despite the above-mentioned limitations, the main advantages of a 3D printing process, as compared to more traditional manufac- turing techniques, are the design flexibility and the possibility to directly integrate elastic components within a joint mechanism produced as a single (monolithic) part. In particular, provided that the external forces acting on the spring coils are maintained within a certain threshold and that the spring geometry is suit- ably optimized, a reliable 3D-printed STS alternative to tradi- tional steel springs is actually feasible. Given these premises, the main purpose of the present paper is to propose a model- based optimization algorithm that allows to optimally size STS for user-specified torque-deflection characteristics. Optimal STS geometries are then realized in ABS via Fused Deposition Man- ufacturing, and subsequently tested with a purposely-designed experimental set-up. Furthermore, the behavior of each STS sample (in terms of stiffness and equivalent Von Mises stress) is evaluated by means of non-linear finite elements analysis, in order to check the correspondence with the expected behavior. Finally, numerical and experimental results are provided, which demonstrate the prediction capabilities of the proposed model- ing/optimization techniques, and confirm that well-behaved STS can be conceived and produced. Envisaged applications con- cern the development of smart structures for robot design, such as multi-articulated compliant robotic chains that can be used as low-cost manipulators (i.e. arm) or as mini-manipulators (i.e. fingers). The proposed approach effectively simplifies the pro- duction and the assembly ofthe mechanism, also allowing for an easier integration ofembedded sensory-actuation systems.},\r\n  doi       = {10.1115/SMASIS2016-9218},\r\n  isbn      = {978-0-7918-5049-7},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?doi=10.1115/SMASIS2018-8053 http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?doi=10.1115/SMASIS2016-9218},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2016_1.pdf},\r\n}\r\n\r\n
\n
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\n Spiral Torsion Springs (STS) are generally manufactured employing medium/high-carbon steel alloys shaped as thin rods with rectangular cross section. Meanwhile, plastic materials (e.g. ABS or PLA), currently used in freeform manufacturing processes, may not be suited for several applications, owing to the low material yield strength and the rather poor fatigue life. Despite the above-mentioned limitations, the main advantages of a 3D printing process, as compared to more traditional manufac- turing techniques, are the design flexibility and the possibility to directly integrate elastic components within a joint mechanism produced as a single (monolithic) part. In particular, provided that the external forces acting on the spring coils are maintained within a certain threshold and that the spring geometry is suit- ably optimized, a reliable 3D-printed STS alternative to tradi- tional steel springs is actually feasible. Given these premises, the main purpose of the present paper is to propose a model- based optimization algorithm that allows to optimally size STS for user-specified torque-deflection characteristics. Optimal STS geometries are then realized in ABS via Fused Deposition Man- ufacturing, and subsequently tested with a purposely-designed experimental set-up. Furthermore, the behavior of each STS sample (in terms of stiffness and equivalent Von Mises stress) is evaluated by means of non-linear finite elements analysis, in order to check the correspondence with the expected behavior. Finally, numerical and experimental results are provided, which demonstrate the prediction capabilities of the proposed model- ing/optimization techniques, and confirm that well-behaved STS can be conceived and produced. Envisaged applications con- cern the development of smart structures for robot design, such as multi-articulated compliant robotic chains that can be used as low-cost manipulators (i.e. arm) or as mini-manipulators (i.e. fingers). The proposed approach effectively simplifies the pro- duction and the assembly ofthe mechanism, also allowing for an easier integration ofembedded sensory-actuation systems.\n
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\n \n\n \n \n Pellicciari, M.; Berselli, G.; Balugani, F.; and Gadaleta, M.\n\n\n \n \n \n \n \n Increasing position accuracy and energy efficiency of servo-actuated mechanisms.\n \n \n \n \n\n\n \n\n\n\n In 2015 IEEE International Conference on Automation Science and Engineering (CASE), volume 2015-Octob, pages 1339–1344, aug 2015. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"IncreasingPaper\n  \n \n \n \"Increasing paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InProceedings{Pellicciari2015,\r\n  author    = {Pellicciari, Marcello and Berselli, Giovanni and Balugani, Federico and Gadaleta, Michele},\r\n  title     = {{Increasing position accuracy and energy efficiency of servo-actuated mechanisms}},\r\n  booktitle = {2015 IEEE International Conference on Automation Science and Engineering (CASE)},\r\n  year      = {2015},\r\n  volume    = {2015-Octob},\r\n  pages     = {1339--1344},\r\n  month     = {aug},\r\n  publisher = {IEEE},\r\n  abstract  = {{\\textcopyright} 2015 IEEE. This paper quantitatively reports about a practical method to improve both position accuracy and energy efficiency of Servo-Actuated Mechanisms (SAMs) for automated machinery. The method, which is readily applicable on existing systems, is based on the 'smart programming' of the actuator trajectory, which is optimized in order to lower the electric energy consumption, whenever possible, and to improve position accuracy along those portions of the motion law which are process relevant. Both energy demand and tracking precision are computed by means of a virtual prototype of the system. The optimization problem is tackled via a traditional Sequential-Quadratic-Programming algorithm, that varies the position of a series of virtual points subsequently interpolated by means of cubic splines. The optimal trajectory is then implemented on a physical prototype for validation purposes. Experimental data confirm the practical viability of the proposed methodology.},\r\n  doi       = {10.1109/CoASE.2015.7294284},\r\n  isbn      = {978-1-4673-8183-3},\r\n  issn      = {21618089},\r\n  keywords  = {Energy Efficiency,Position Accuracy,Trajectory Optimization,Virtual Prototyping},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://ieeexplore.ieee.org/document/7294284/},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2015_1.pdf},\r\n}\r\n\r\n
\n
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\n © 2015 IEEE. This paper quantitatively reports about a practical method to improve both position accuracy and energy efficiency of Servo-Actuated Mechanisms (SAMs) for automated machinery. The method, which is readily applicable on existing systems, is based on the 'smart programming' of the actuator trajectory, which is optimized in order to lower the electric energy consumption, whenever possible, and to improve position accuracy along those portions of the motion law which are process relevant. Both energy demand and tracking precision are computed by means of a virtual prototype of the system. The optimization problem is tackled via a traditional Sequential-Quadratic-Programming algorithm, that varies the position of a series of virtual points subsequently interpolated by means of cubic splines. The optimal trajectory is then implemented on a physical prototype for validation purposes. Experimental data confirm the practical viability of the proposed methodology.\n
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\n \n\n \n \n Gadaleta, M.; Berselli, G.; Pellicciari, M.; and Andrisano, A. O\n\n\n \n \n \n \n \n Towards Energy-Optimal Layout Design of Robotic Work Cells.\n \n \n \n \n\n\n \n\n\n\n In FAIM2015, 24th International Conference on Flexible Automation and Intelligent Manufacturing, pages 1–8, 2015. \n \n\n\n\n
\n\n\n\n \n \n \"Towards paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Gadaleta2015,\r\n  author    = {Gadaleta, Michele and Berselli, Giovanni and Pellicciari, Marcello and Andrisano, Angelo O},\r\n  title     = {{Towards Energy-Optimal Layout Design of Robotic Work Cells}},\r\n  booktitle = {FAIM2015, 24th International Conference on Flexible Automation and Intelligent Manufacturing},\r\n  year      = {2015},\r\n  pages     = {1--8},\r\n  abstract  = {This paper presents a new method for optimizing the layout position of an Industrial Robot (IR) in order to execute a specified task with the minimum energy consumption. First, using the Modelica language, an IR mechatronic model is developed, focusing on computational efficiency: addressing the power flow from the electrical network, the sub-system components are modeled with the level of detail strictly necessary for an accurate prediction of the power consumption, while assuring efficient computational efforts. Once a robot task is assigned, the optimal layout IR position is calculated using optimization techniques that retrieve the robot base position corresponding to the minimum energy consumption. Additionally, the designer can optimize the overall robotic work cell with the aid of a set of colour/contour maps that depict the energy demand along with the time required for the task completion. Development, simulation and optimization phases are performed in Dymola environment.},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2015_S1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n This paper presents a new method for optimizing the layout position of an Industrial Robot (IR) in order to execute a specified task with the minimum energy consumption. First, using the Modelica language, an IR mechatronic model is developed, focusing on computational efficiency: addressing the power flow from the electrical network, the sub-system components are modeled with the level of detail strictly necessary for an accurate prediction of the power consumption, while assuring efficient computational efforts. Once a robot task is assigned, the optimal layout IR position is calculated using optimization techniques that retrieve the robot base position corresponding to the minimum energy consumption. Additionally, the designer can optimize the overall robotic work cell with the aid of a set of colour/contour maps that depict the energy demand along with the time required for the task completion. Development, simulation and optimization phases are performed in Dymola environment.\n
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\n \n\n \n \n Pellicciari, M.; Avotins, A.; Bengtsson, K.; Berselli, G.; Bey, N.; Lennartson, B.; and Meike, D.\n\n\n \n \n \n \n \n AREUS - Innovative hardware and software for sustainable industrial robotics.\n \n \n \n \n\n\n \n\n\n\n In 2015 IEEE International Conference on Automation Science and Engineering (CASE), volume 2015-Octob, pages 1325–1332, aug 2015. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"AREUSPaper\n  \n \n \n \"AREUS paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InProceedings{Pellicciari2015a,\r\n  author    = {Pellicciari, M. and Avotins, A. and Bengtsson, K. and Berselli, G. and Bey, N. and Lennartson, B. and Meike, D.},\r\n  title     = {{AREUS - Innovative hardware and software for sustainable industrial robotics}},\r\n  booktitle = {2015 IEEE International Conference on Automation Science and Engineering (CASE)},\r\n  year      = {2015},\r\n  volume    = {2015-Octob},\r\n  pages     = {1325--1332},\r\n  month     = {aug},\r\n  publisher = {IEEE},\r\n  abstract  = {{\\textcopyright} 2015 IEEE. Industrial Robotics (IR) may be envisaged as the key technology to keep the manufacturing industry at the leading edge. Unfortunately, at the current state-of-the-art, IR is intrinsically energy intensive, thus compromising factories sustainability in terms of ecological footprint and economic costs. Within this scenario, this paper presents a new framework called AREUS, focusing on eco-design, eco-programming and Life Cycle Assessment (LCA) of robotized factories. The objective is to overcome current IR energetic limitations by providing a set of integrated technologies and engineering platforms. In particular, novel energy-saving hardware is firstly introduced, which aim at exchanging/storing/recovering energy at factory level. In parallel, innovative engineering methods and software tools for energy-focused simulation are developed, as well as energy-optimal scheduling of multi-robot stations. At last, LCA methods are briefly described, which are capable to assess both environmental and economic costs, linked to the flows of Material, Energy and Waste (MEW). A selected list of industrially-driven demonstration case studies is finally presented, along with future directions of improvement.},\r\n  doi       = {10.1109/CoASE.2015.7294282},\r\n  isbn      = {978-1-4673-8183-3},\r\n  issn      = {21618089},\r\n  keywords  = {Computer-Aided-Robotics,DC-grid,Energy-Efficient Industrial Robotics,LCA,Optimal Sequences},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://ieeexplore.ieee.org/document/7294282/},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C201_S2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n © 2015 IEEE. Industrial Robotics (IR) may be envisaged as the key technology to keep the manufacturing industry at the leading edge. Unfortunately, at the current state-of-the-art, IR is intrinsically energy intensive, thus compromising factories sustainability in terms of ecological footprint and economic costs. Within this scenario, this paper presents a new framework called AREUS, focusing on eco-design, eco-programming and Life Cycle Assessment (LCA) of robotized factories. The objective is to overcome current IR energetic limitations by providing a set of integrated technologies and engineering platforms. In particular, novel energy-saving hardware is firstly introduced, which aim at exchanging/storing/recovering energy at factory level. In parallel, innovative engineering methods and software tools for energy-focused simulation are developed, as well as energy-optimal scheduling of multi-robot stations. At last, LCA methods are briefly described, which are capable to assess both environmental and economic costs, linked to the flows of Material, Energy and Waste (MEW). A selected list of industrially-driven demonstration case studies is finally presented, along with future directions of improvement.\n
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\n \n\n \n \n Berselli, G.; Vertechy, R.; Fontana, M.; and Pellicciari, M.\n\n\n \n \n \n \n \n An Experimental Assessment of the Thermo-Elastic Response in Acrylic Elastomers and Natural Rubbers for Application on Electroactive Polymer Transducers.\n \n \n \n \n\n\n \n\n\n\n In ASME 2014 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2014, pages V001T03A027, sep 2014. ASME\n \n\n\n\n
\n\n\n\n \n \n \"AnPaper\n  \n \n \n \"An paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Berselli2014,\r\n  author    = {Berselli, Giovanni and Vertechy, Rocco and Fontana, Marco and Pellicciari, Marcello},\r\n  title     = {{An Experimental Assessment of the Thermo-Elastic Response in Acrylic Elastomers and Natural Rubbers for Application on Electroactive Polymer Transducers}},\r\n  booktitle = {ASME 2014 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2014},\r\n  year      = {2014},\r\n  pages     = {V001T03A027},\r\n  month     = {sep},\r\n  publisher = {ASME},\r\n  abstract  = {Dielectric Elastomers (DEs) are deformable dielectrics, which are currently used as active materials in mecha- tronic transducers, such as actuators, sensors and generators. Nonetheless, at the present state of the art, the industrial ex- ploitation ofDE-based devices is still hampered by the irregu- lar electro-mechanical behavior ofthe employed materials, also due to the unpredictable effects ofenvironmental changes in real world applications. In many cases, DE transducers are still developed via trial-and-error procedures rather than through a well-structured design practice, one reason being the lack ofex- perimental data along with reliable constitutive parameters of many potential DE materials. Therefore, in order to provide the practicing engineer with some essential information, an open-access database for DEma- terials has been recently created and presented in [1]. Following the same direction, this paper addresses the temperature effect on the visco-hyperelastic behavior oftwo DE candidates, namely a natural rubber (ZRUNEKA1040) and a well-known acrylic elas- tomer (3M VHB 4905). Measurements are performed on pure shear specimens placed in a climactic chamber. Experimental stress-strain curves are then provided, which makes it possible to predict hyperelasticity, plasticity, viscosity, and Mullins ef- fect as function ofthe environmental temperature. Properties of these commercial elastomeric membranes are finally entered in the database and made available to the research community.},\r\n  doi       = {10.1115/SMASIS2014-7604},\r\n  isbn      = {978-0-7918-4614-8},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?doi=10.1115/SMASIS2014-7604},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2014_4.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Dielectric Elastomers (DEs) are deformable dielectrics, which are currently used as active materials in mecha- tronic transducers, such as actuators, sensors and generators. Nonetheless, at the present state of the art, the industrial ex- ploitation ofDE-based devices is still hampered by the irregu- lar electro-mechanical behavior ofthe employed materials, also due to the unpredictable effects ofenvironmental changes in real world applications. In many cases, DE transducers are still developed via trial-and-error procedures rather than through a well-structured design practice, one reason being the lack ofex- perimental data along with reliable constitutive parameters of many potential DE materials. Therefore, in order to provide the practicing engineer with some essential information, an open-access database for DEma- terials has been recently created and presented in [1]. Following the same direction, this paper addresses the temperature effect on the visco-hyperelastic behavior oftwo DE candidates, namely a natural rubber (ZRUNEKA1040) and a well-known acrylic elas- tomer (3M VHB 4905). Measurements are performed on pure shear specimens placed in a climactic chamber. Experimental stress-strain curves are then provided, which makes it possible to predict hyperelasticity, plasticity, viscosity, and Mullins ef- fect as function ofthe environmental temperature. Properties of these commercial elastomeric membranes are finally entered in the database and made available to the research community.\n
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\n \n\n \n \n Vergnano, A.; Pellicciari, M.; and Berselli, G.\n\n\n \n \n \n \n \n Parametric virtual concept design of heavy machinery : a case study application.\n \n \n \n \n\n\n \n\n\n\n In JCM2014, Joint Conference on Mechanical, Design Engineering & Advanced Manufacturing, pages 1–7, 2014. \n \n\n\n\n
\n\n\n\n \n \n \"Parametric paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InProceedings{Vergnano2014,\r\n  author    = {Vergnano, Alberto and Pellicciari, Marcello and Berselli, Giovanni},\r\n  title     = {{Parametric virtual concept design of heavy machinery : a case study application}},\r\n  booktitle = {JCM2014, Joint Conference on Mechanical, Design Engineering {\\&} Advanced Manufacturing},\r\n  year      = {2014},\r\n  pages     = {1--7},\r\n  abstract  = {Virtual prototyping enables the validation and optimization of machinery equivalent to physical testing, saving time and costs in the product development, especially in case of heavy machines with complex motions. However, virtual prototyping is usually deployed only at the end of the design process, when product architecture is already developed. The present paper discusses the introduction of virtual prototypes since conceptual design stage as Virtual Concepts in which coarse models of machinery design variants are simulated obtaining useful information, sometimes fundamental to support best design choices. Virtual Concept modeling and preliminary validation and its later integration to a Virtual Prototype are expressly investigated using Multi Body Dynamics software. A verification case study on a large vibrating screen demonstrates that dynamic Virtual Concepts enable easier and effective evaluations on the design variants and increase the design process predictability.},\r\n  keywords  = {cad based simulation,design,process,vibrating screen,virtual concept,virtual prototype},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2014_S1.pdf},\r\n}\r\n\r\n
\n
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\n Virtual prototyping enables the validation and optimization of machinery equivalent to physical testing, saving time and costs in the product development, especially in case of heavy machines with complex motions. However, virtual prototyping is usually deployed only at the end of the design process, when product architecture is already developed. The present paper discusses the introduction of virtual prototypes since conceptual design stage as Virtual Concepts in which coarse models of machinery design variants are simulated obtaining useful information, sometimes fundamental to support best design choices. Virtual Concept modeling and preliminary validation and its later integration to a Virtual Prototype are expressly investigated using Multi Body Dynamics software. A verification case study on a large vibrating screen demonstrates that dynamic Virtual Concepts enable easier and effective evaluations on the design variants and increase the design process predictability.\n
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\n \n\n \n \n Pellicciari, M.; Vergnano, A.; and Berselli, G.\n\n\n \n \n \n \n \n Hardware-in-the-Loop Mechatronic Virtual Prototyping of a high-speed capsule filling machine.\n \n \n \n \n\n\n \n\n\n\n In 2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA), pages 1–6, sep 2014. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"Hardware-in-the-LoopPaper\n  \n \n \n \"Hardware-in-the-Loop paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InProceedings{Pellicciari2014,\r\n  author    = {Pellicciari, Marcello and Vergnano, Alberto and Berselli, Giovanni},\r\n  title     = {{Hardware-in-the-Loop Mechatronic Virtual Prototyping of a high-speed capsule filling machine}},\r\n  booktitle = {2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA)},\r\n  year      = {2014},\r\n  pages     = {1--6},\r\n  month     = {sep},\r\n  publisher = {IEEE},\r\n  abstract  = {{\\textcopyright} 2014 IEEE. In the field of pharmaceutical processing, last generation automatic machines autonomously modify their behavior in order to achieve the best manufacturing quality and productivity despite ever changing process requirements. Mechatronics, as a synergistic integration of electro-mechanical equipment and software control logics, enables such adaptive self-optimizing behaviors. Unfortunately, due to the complex interactions between the different technologies, the final performance of these systems can be effectively validated and optimized only on a physical prototype, with limited possibilities to introduce possible design changes. Therefore, in order to enable validation/optimization of high performance machinery during engineering design stage, a mechatronic Virtual Prototyping (VP) technology is strongly needed. Within this context, the present work discusses a mechatronic VP method based on a Hardware-in-the-Loop, hybrid-process simulation approach, where interactive real-time simulations can effectively assess the real final performance under changing process scenarios. In particular, a case study concerning a high-speed automatic machines for pharmaceutical capsules filling is thoroughly discussed.},\r\n  doi       = {10.1109/MESA.2014.6935609},\r\n  isbn      = {978-1-4799-2280-2},\r\n  keywords  = {Hardware-in-the-Loop,Intelligent Manufacturing,Mechatronic Design,Virtual Prototyping},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://ieeexplore.ieee.org/document/6935609/},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2014_3.pdf},\r\n}\r\n\r\n
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\n © 2014 IEEE. In the field of pharmaceutical processing, last generation automatic machines autonomously modify their behavior in order to achieve the best manufacturing quality and productivity despite ever changing process requirements. Mechatronics, as a synergistic integration of electro-mechanical equipment and software control logics, enables such adaptive self-optimizing behaviors. Unfortunately, due to the complex interactions between the different technologies, the final performance of these systems can be effectively validated and optimized only on a physical prototype, with limited possibilities to introduce possible design changes. Therefore, in order to enable validation/optimization of high performance machinery during engineering design stage, a mechatronic Virtual Prototyping (VP) technology is strongly needed. Within this context, the present work discusses a mechatronic VP method based on a Hardware-in-the-Loop, hybrid-process simulation approach, where interactive real-time simulations can effectively assess the real final performance under changing process scenarios. In particular, a case study concerning a high-speed automatic machines for pharmaceutical capsules filling is thoroughly discussed.\n
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\n \n\n \n \n Vergnano, A.; Pellicciari, M.; and Berselli, G.\n\n\n \n \n \n \n \n Hardware in the loop simulation-based training for automated manufacturing systems operators.\n \n \n \n \n\n\n \n\n\n\n In Proceedings of the 24th International Conference on Flexible Automation & Intelligent Manufacturing, pages 873–880, 2014. DEStech Publications, Inc.\n \n\n\n\n
\n\n\n\n \n \n \"HardwarePaper\n  \n \n \n \"Hardware paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Vergnano2014a,\r\n  author    = {Vergnano, Alberto and Pellicciari, Marcello and Berselli, Giovanni},\r\n  title     = {{Hardware in the loop simulation-based training for automated manufacturing systems operators}},\r\n  booktitle = {Proceedings of the 24th International Conference on Flexible Automation {\\&} Intelligent Manufacturing},\r\n  year      = {2014},\r\n  pages     = {873--880},\r\n  publisher = {DEStech Publications, Inc.},\r\n  abstract  = {{\\textcopyright} Copyright 2014 by DEStech Publications, Inc. All rights reserved. Simulation-Based-Training (SBT) allows to train the operators of complex machinery within a safe virtual environment by means of effective lifelike learning experiences. SBT has been efficiently used in medical, aerospace and military fields and it may provide a competitive advantage also for the training of operators in mechatronic plants. In fact, at the current state of the art, human-machine interaction still heavily impacts on the final performances of automated plants. Since the fast-evolving process dynamics of the machinery is controlled and supervised by complex software logics, the main challenge for effective and valid SBT concerns the development of a real-time simulation, where the control system responsiveness is fully reproduced. This paper deals with a novel SBT workbench used for steel plants operator training, discussing the real-time simulation architecture developed for the purpose. Following a hybrid process simulation approach, real-time control Hardware-In-the-Loop technology assures seamless and accurate reproduction of the real plant, also achieving the desired Man-in-the-Loop practice for the operator interaction. A conceptual architecture for a virtual interactive prototype is proposed, including controllers and interfaces for trainer and trainees. A case study on an electric arc furnace is implemented within a Virtual Commissioning tool, analyzing its capabilities and limitations.},\r\n  doi       = {10.14809/faim.2014.0873},\r\n  isbn      = {9781605951737},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://cdm16018.contentdm.oclc.org/cdm/ref/collection/p15125coll7/id/7867},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2014_1.pdf},\r\n}\r\n\r\n
\n
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\n © Copyright 2014 by DEStech Publications, Inc. All rights reserved. Simulation-Based-Training (SBT) allows to train the operators of complex machinery within a safe virtual environment by means of effective lifelike learning experiences. SBT has been efficiently used in medical, aerospace and military fields and it may provide a competitive advantage also for the training of operators in mechatronic plants. In fact, at the current state of the art, human-machine interaction still heavily impacts on the final performances of automated plants. Since the fast-evolving process dynamics of the machinery is controlled and supervised by complex software logics, the main challenge for effective and valid SBT concerns the development of a real-time simulation, where the control system responsiveness is fully reproduced. This paper deals with a novel SBT workbench used for steel plants operator training, discussing the real-time simulation architecture developed for the purpose. Following a hybrid process simulation approach, real-time control Hardware-In-the-Loop technology assures seamless and accurate reproduction of the real plant, also achieving the desired Man-in-the-Loop practice for the operator interaction. A conceptual architecture for a virtual interactive prototype is proposed, including controllers and interfaces for trainer and trainees. A case study on an electric arc furnace is implemented within a Virtual Commissioning tool, analyzing its capabilities and limitations.\n
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\n \n\n \n \n Oliva, E.; Berselli, G.; and Pelliccian, M.\n\n\n \n \n \n \n \n A novel engineering method for the power flow assessment in servo-actuated automated machinery.\n \n \n \n \n\n\n \n\n\n\n In Proceedings of the 24th International Conference on Flexible Automation & Intelligent Manufacturing, pages 259–266, 2014. DEStech Publications, Inc.\n \n\n\n\n
\n\n\n\n \n \n \"APaper\n  \n \n \n \"A paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Oliva2014,\r\n  author    = {Oliva, Enrico and Berselli, Giovanni and Pelliccian, Marcello},\r\n  title     = {{A novel engineering method for the power flow assessment in servo-actuated automated machinery}},\r\n  booktitle = {Proceedings of the 24th International Conference on Flexible Automation {\\&} Intelligent Manufacturing},\r\n  year      = {2014},\r\n  pages     = {259--266},\r\n  publisher = {DEStech Publications, Inc.},\r\n  abstract  = {{\\textcopyright} Copyright 2014 by DEStech Publications, Inc. All rights reserved. Multipurpose and programmable servo-actuated mechanisms may be envisaged as the key technology for increasing flexibility and re-configurability of modern automated machinery. Unfortunately, based on the current state-of-the-art, these mechatronic devices are extremely flexible but generally energy intensive, thus compromising the overall system sustainability. Nonetheless, the system power consumption can be partially reduced if energy optimality is introduced as a design goal along with the global productivity. Naturally, as a first step towards the practical implementation of any energy-optimality criterion, the end user should be capable of predicting the system power flow, including the major sources of energy loss. In this context, this paper firstly presents a reliable model of a servo-actuated mechanism accounting for linkage, electric motor and power converter behavior. Then, a novel identification method is discussed, which allows the separate determination of the models parameters by means of non-invasive experimental measures. The method is finally validated by comparing predicted and actual power flows in a simple mechatronic system, which is composed of a slider-crank mechanism directly coupled with a position-controlled permanent magnet synchronous motor.},\r\n  doi       = {10.14809/faim.2014.0259},\r\n  isbn      = {9781605951737},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://cdm16018.contentdm.oclc.org/cdm/ref/collection/p15125coll7/id/7841},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2014_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n © Copyright 2014 by DEStech Publications, Inc. All rights reserved. Multipurpose and programmable servo-actuated mechanisms may be envisaged as the key technology for increasing flexibility and re-configurability of modern automated machinery. Unfortunately, based on the current state-of-the-art, these mechatronic devices are extremely flexible but generally energy intensive, thus compromising the overall system sustainability. Nonetheless, the system power consumption can be partially reduced if energy optimality is introduced as a design goal along with the global productivity. Naturally, as a first step towards the practical implementation of any energy-optimality criterion, the end user should be capable of predicting the system power flow, including the major sources of energy loss. In this context, this paper firstly presents a reliable model of a servo-actuated mechanism accounting for linkage, electric motor and power converter behavior. Then, a novel identification method is discussed, which allows the separate determination of the models parameters by means of non-invasive experimental measures. The method is finally validated by comparing predicted and actual power flows in a simple mechatronic system, which is composed of a slider-crank mechanism directly coupled with a position-controlled permanent magnet synchronous motor.\n
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\n \n\n \n \n Berselli, G.; Scirè Mammano, G.; and Dragoni, E.\n\n\n \n \n \n \n \n Design and Modeling of a Dielectric Elastomer Cylindrical Actuator With Quasi-Constant Available Thrust.\n \n \n \n \n\n\n \n\n\n\n In ASME 2013 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2013, pages V001T03A041, sep 2013. ASME\n \n\n\n\n
\n\n\n\n \n \n \"DesignPaper\n  \n \n \n \"Design paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Berselli2013,\r\n  author    = {Berselli, Giovanni and {Scir{\\`{e}} Mammano}, Giovanni and Dragoni, Eugenio},\r\n  title     = {{Design and Modeling of a Dielectric Elastomer Cylindrical Actuator With Quasi-Constant Available Thrust}},\r\n  booktitle = {ASME 2013 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2013},\r\n  year      = {2013},\r\n  pages     = {V001T03A041},\r\n  month     = {sep},\r\n  publisher = {ASME},\r\n  abstract  = {A novel design for a Dielectric Elastomer (DE) actuator is presented. The actuator is obtained by coupling a cylindrical DE film with a series of slender beams axially loaded beyond their buckling limit. Similarly to previous published solutions, where different actuator geometries were coupled with compliant mech- anisms of various topologies, the elastic beams are designed so as to provide a suitable compensating force that allows obtain- ing a quasi-constant available thrust along the entire actuator stroke. The overall system performance are subsequently evalu- ated by means finite element analysis, accounting for the large deflection of the buckled-beam springs and for the DE material hyperelasticity. Final results confirm that compact and better behaved constant force cylindrical actuators can be obtained, which potentially outperform similar devices in terms ofachiev- able stroke. 1},\r\n  doi       = {10.1115/SMASIS2013-3266},\r\n  isbn      = {978-0-7918-5603-1},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?doi=10.1115/SMASIS2013-3266},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2013_7.pdf},\r\n}\r\n\r\n
\n
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\n A novel design for a Dielectric Elastomer (DE) actuator is presented. The actuator is obtained by coupling a cylindrical DE film with a series of slender beams axially loaded beyond their buckling limit. Similarly to previous published solutions, where different actuator geometries were coupled with compliant mech- anisms of various topologies, the elastic beams are designed so as to provide a suitable compensating force that allows obtain- ing a quasi-constant available thrust along the entire actuator stroke. The overall system performance are subsequently evalu- ated by means finite element analysis, accounting for the large deflection of the buckled-beam springs and for the DE material hyperelasticity. Final results confirm that compact and better behaved constant force cylindrical actuators can be obtained, which potentially outperform similar devices in terms ofachiev- able stroke. 1\n
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\n \n\n \n \n Oliva, E.; Berselli, G.; and Pini, F.\n\n\n \n \n \n \n \n Dynamic Identification of Industrial Robots from Low-Sampled Data.\n \n \n \n \n\n\n \n\n\n\n In Applied Mechanics and Materials, volume 328, pages 644–650, jun 2013. \n \n\n\n\n
\n\n\n\n \n \n \"DynamicPaper\n  \n \n \n \"Dynamic paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InProceedings{Oliva2013,\r\n  author    = {Oliva, E. and Berselli, G. and Pini, F.},\r\n  title     = {{Dynamic Identification of Industrial Robots from Low-Sampled Data}},\r\n  booktitle = {Applied Mechanics and Materials},\r\n  year      = {2013},\r\n  volume    = {328},\r\n  pages     = {644--650},\r\n  month     = {jun},\r\n  abstract  = {This paper proposes a fast and on-site method for the dynamic identification of industrial robots from low-sampled position and torque data. Owing to the basic architecture of the employed controller, only trapezoidal-velocity trajectories can be enforced for identification purposes. Differently from previous literature, where this kind of trajectories were performed with limited joint velocities and range of motions, the procedure proposed hereafter is characterized by fast movements performed on wide angular ranges. Furthermore, in order to identify the influence of friction without deriving complex friction models, a novel method is outlined that decouples frictional torques from gravitational, centrifugal and inertial ones. Finally, although multiple experiments of different kinds have been performed, inertial parameters are determined in one singular step, thus avoiding possible error increase due to sequential identification algorithms.},\r\n  doi       = {10.4028/www.scientific.net/AMM.328.644},\r\n  issn      = {1662-7482},\r\n  keywords  = {abstract,and torque data,architecture of the employed,be enforced for identification,controller,fast and on-site method,for the dynamic identification,friction decoupling,industrial robots,low frequency sampling,of industrial,only trapezoidal-velocity trajectories can,owing to the basic,purposes,robots from low-sampled position,system identification,this paper proposes a},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {https://www.scientific.net/AMM.328.644},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2013_4.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n This paper proposes a fast and on-site method for the dynamic identification of industrial robots from low-sampled position and torque data. Owing to the basic architecture of the employed controller, only trapezoidal-velocity trajectories can be enforced for identification purposes. Differently from previous literature, where this kind of trajectories were performed with limited joint velocities and range of motions, the procedure proposed hereafter is characterized by fast movements performed on wide angular ranges. Furthermore, in order to identify the influence of friction without deriving complex friction models, a novel method is outlined that decouples frictional torques from gravitational, centrifugal and inertial ones. Finally, although multiple experiments of different kinds have been performed, inertial parameters are determined in one singular step, thus avoiding possible error increase due to sequential identification algorithms.\n
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\n \n\n \n \n Pellicciari, M.; Berselli, G.; Ori, M.; and Leali, F.\n\n\n \n \n \n \n \n The Role of Co-Simulation in the Integrated Design of High-Dynamics Servomechanisms: An Experimental Evaluation.\n \n \n \n \n\n\n \n\n\n\n In Applied Mechanics and Materials, volume 278-280, pages 1758–1764, 2013. \n \n\n\n\n
\n\n\n\n \n \n \"The paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Pellicciari2013,\r\n  author    = {Pellicciari, Marcello and Berselli, Giovanni and Ori, Mirko and Leali, Francesco},\r\n  title     = {{The Role of Co-Simulation in the Integrated Design of High-Dynamics Servomechanisms: An Experimental Evaluation}},\r\n  booktitle = {Applied Mechanics and Materials},\r\n  year      = {2013},\r\n  volume    = {278-280},\r\n  pages     = {1758--1764},\r\n  abstract  = {This paper reports about the design and modeling process of high performance servo-actuated mechanisms for automatic machines. Besides being a delicate and time consuming process, coupled simulations based on virtual prototyping finally offer the chance to integrate engineering methods proper of control system engineering and mechanical design. In particular, the main target of this work is to investigate how different virtual prototyping approaches, each having increasing level of detail, can contribute to the appropriate prediction of the expected machine performance. These results are then compared with experimental data obtained on a real servomechanism prototype. The comparison quantitatively demonstrate the improvement on torque prediction and position error reduction when detailed models of the controller and the electric motor dynamics are coupled with the mechanical system model.},\r\n  doi       = {10.4028/www.scientific.net/amm.278-280.1758},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2013_5.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n This paper reports about the design and modeling process of high performance servo-actuated mechanisms for automatic machines. Besides being a delicate and time consuming process, coupled simulations based on virtual prototyping finally offer the chance to integrate engineering methods proper of control system engineering and mechanical design. In particular, the main target of this work is to investigate how different virtual prototyping approaches, each having increasing level of detail, can contribute to the appropriate prediction of the expected machine performance. These results are then compared with experimental data obtained on a real servomechanism prototype. The comparison quantitatively demonstrate the improvement on torque prediction and position error reduction when detailed models of the controller and the electric motor dynamics are coupled with the mechanical system model.\n
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\n \n\n \n \n Ansaloni, M.; Bonazzi, E.; Leali, F.; Pellicciari, M.; and Berselli, G.\n\n\n \n \n \n \n \n Design of Fixture Systems in Automotive Manufacturing and Assembly.\n \n \n \n \n\n\n \n\n\n\n In Advanced Materials Research, volume 712-715, pages 2913–2916, jun 2013. \n \n\n\n\n
\n\n\n\n \n \n \"DesignPaper\n  \n \n \n \"Design paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Ansaloni2013,\r\n  author    = {Ansaloni, Matteo and Bonazzi, Enrico and Leali, Francesco and Pellicciari, Marcello and Berselli, Giovanni},\r\n  title     = {{Design of Fixture Systems in Automotive Manufacturing and Assembly}},\r\n  booktitle = {Advanced Materials Research},\r\n  year      = {2013},\r\n  volume    = {712-715},\r\n  pages     = {2913--2916},\r\n  month     = {jun},\r\n  abstract  = {Fixture systems have a great importance in modern manufacturing and assembly because of the high number of scenarios in which they are used. Fixture design is a complex task since the system effectiveness depends both on position and type of locators. Several authors deal with the problem of determine the most suitable design for fixture systems but their investigation is commonly limited to the evaluation of the effects due to the locators position. In the present work a design method is proposed to evaluate the fixture systems considering also the locators type. Since it is possible to model the fixtures as multi-performance systems, the comparison is performed by introducing appropriate sensitivity indexes. The effectiveness of the design method is proved through the application to an automotive case study.},\r\n  doi       = {10.4028/www.scientific.net/AMR.712-715.2913},\r\n  issn      = {1662-8985},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {https://www.scientific.net/AMR.712-715.2913},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2013_3.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Fixture systems have a great importance in modern manufacturing and assembly because of the high number of scenarios in which they are used. Fixture design is a complex task since the system effectiveness depends both on position and type of locators. Several authors deal with the problem of determine the most suitable design for fixture systems but their investigation is commonly limited to the evaluation of the effects due to the locators position. In the present work a design method is proposed to evaluate the fixture systems considering also the locators type. Since it is possible to model the fixtures as multi-performance systems, the comparison is performed by introducing appropriate sensitivity indexes. The effectiveness of the design method is proved through the application to an automotive case study.\n
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\n \n\n \n \n Pellicciari, M.; Berselli, G.; Balugani, F.; Meike, D.; and Leali, F.\n\n\n \n \n \n \n \n On designing optimal trajectories for servo-actuated mechanisms through highly detailed virtual prototypes.\n \n \n \n \n\n\n \n\n\n\n In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pages 1780–1785, jul 2013. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"OnPaper\n  \n \n \n \"On paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InProceedings{Pellicciari2013a,\r\n  author    = {Pellicciari, Marcello and Berselli, Giovanni and Balugani, Federico and Meike, Davis and Leali, Francesco},\r\n  title     = {{On designing optimal trajectories for servo-actuated mechanisms through highly detailed virtual prototypes}},\r\n  booktitle = {2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics},\r\n  year      = {2013},\r\n  pages     = {1780--1785},\r\n  month     = {jul},\r\n  publisher = {IEEE},\r\n  abstract  = {Servo-actuated mechanisms are increasingly sub-stituting fully mechanical drives in order to increase flexibility and reconfigurability of modern automatic machines. The overall servomechanism performance, especially in the case of high-dynamic motions, is the direct consequence of several interacting factors, namely electric motor and linkage dynamics, controller efficacy, and requested motion law. In particular, Point-To-Point (PTP) trajectories are usually designed in order to comply with technological constraints, imposed by the required interaction with the handled product, and to maximize some optimality criterion such as, for instance, energy efficiency or limited actuation torques. In this context, the present paper proposes a novel method for generating either energy-optimal or torque-optimal PTP motions described by piecewise fifth-order polynomials. The optimization cost functions are based on a virtual prototype of the system, which comprises behavioral models of power converter, controller and electric motor coupled with the mechanical system. Results are then compared with experimental data obtained on a physical prototype. The comparison quantitatively shows that better-behaved PTP trajectories can be designed by including the dynamic contribution of each sub-system component. {\\textcopyright} 2013 IEEE.},\r\n  doi       = {10.1109/AIM.2013.6584355},\r\n  isbn      = {978-1-4673-5320-5},\r\n  keywords  = {Servo-Actuated Mechanism,Trajectory Generation,Virtual Prototyping},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://ieeexplore.ieee.org/document/6584355/},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2013_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Servo-actuated mechanisms are increasingly sub-stituting fully mechanical drives in order to increase flexibility and reconfigurability of modern automatic machines. The overall servomechanism performance, especially in the case of high-dynamic motions, is the direct consequence of several interacting factors, namely electric motor and linkage dynamics, controller efficacy, and requested motion law. In particular, Point-To-Point (PTP) trajectories are usually designed in order to comply with technological constraints, imposed by the required interaction with the handled product, and to maximize some optimality criterion such as, for instance, energy efficiency or limited actuation torques. In this context, the present paper proposes a novel method for generating either energy-optimal or torque-optimal PTP motions described by piecewise fifth-order polynomials. The optimization cost functions are based on a virtual prototype of the system, which comprises behavioral models of power converter, controller and electric motor coupled with the mechanical system. Results are then compared with experimental data obtained on a physical prototype. The comparison quantitatively shows that better-behaved PTP trajectories can be designed by including the dynamic contribution of each sub-system component. © 2013 IEEE.\n
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\n \n\n \n \n Berselli, G.; Rad, F. P.; Vertechy, R.; and Castelli, V. P.\n\n\n \n \n \n \n \n Comparative evaluation of straight and curved beam flexures for selectively compliant mechanisms.\n \n \n \n \n\n\n \n\n\n\n In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, volume 2, pages 1761–1766, jul 2013. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"ComparativePaper\n  \n \n \n \"Comparative paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InProceedings{Berselli2013a,\r\n  author    = {Berselli, Giovanni and Rad, Farid Parvari and Vertechy, Rocco and Castelli, Vincenzo Parenti},\r\n  title     = {{Comparative evaluation of straight and curved beam flexures for selectively compliant mechanisms}},\r\n  booktitle = {2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics},\r\n  year      = {2013},\r\n  volume    = {2},\r\n  pages     = {1761--1766},\r\n  month     = {jul},\r\n  publisher = {IEEE},\r\n  abstract  = {In this paper, a quantitative comparison is made between straight beam and curved beam flexures for application on selectively compliant mechanisms. Following a general procedure previously described in the literature, the closed-form compliance equations for both flexural hinges are firstly derived. Then, the two morphologies are compared in terms of maximum achievable rotation and selective compliance (i.e. capability of providing low stiffness along a single desired direction). In particular, the performance of each design solution is quantified by means of purposely defined quality indexes, analytically computed on the basis of the hinges compliance matrix. Finally, the potentials of these types of flexures for the optimal design of compliant robotic fingers are critically discussed. {\\textcopyright} 2013 IEEE.},\r\n  doi       = {10.1109/AIM.2013.6584352},\r\n  isbn      = {978-1-4673-5320-5},\r\n  keywords  = {Compliant mechanisms,performance evaluation,robotic fingers},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://ieeexplore.ieee.org/document/6584352/},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2013_1.pdf},\r\n}\r\n\r\n
\n
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\n In this paper, a quantitative comparison is made between straight beam and curved beam flexures for application on selectively compliant mechanisms. Following a general procedure previously described in the literature, the closed-form compliance equations for both flexural hinges are firstly derived. Then, the two morphologies are compared in terms of maximum achievable rotation and selective compliance (i.e. capability of providing low stiffness along a single desired direction). In particular, the performance of each design solution is quantified by means of purposely defined quality indexes, analytically computed on the basis of the hinges compliance matrix. Finally, the potentials of these types of flexures for the optimal design of compliant robotic fingers are critically discussed. © 2013 IEEE.\n
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\n \n\n \n \n Palli, G.; and Berselli, G.\n\n\n \n \n \n \n \n On the Control of a Dielectric Elastomer Artificial Muscle With Variable Impedance.\n \n \n \n \n\n\n \n\n\n\n In ASME 2013 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2013, pages V001T03A042, sep 2013. ASME\n \n\n\n\n
\n\n\n\n \n \n \"OnPaper\n  \n \n \n \"On paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Palli2013,\r\n  author    = {Palli, Gianluca and Berselli, Giovanni},\r\n  title     = {{On the Control of a Dielectric Elastomer Artificial Muscle With Variable Impedance}},\r\n  booktitle = {ASME 2013 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2013},\r\n  year      = {2013},\r\n  pages     = {V001T03A042},\r\n  month     = {sep},\r\n  publisher = {ASME},\r\n  abstract  = {Artificial Muscles based on Dielectric Elastomers (DE) can potentially enable the realization of bio-inspired actuation systems whose intrinsic compliance and damping can be varied according to the task requirements. Nonetheless, the control of DE-based Variable Impedance Actuators (VIA) is not trivial owing to the non-linear viscoelastic response which characterizes the acrylic dielectrics commonly employed in practical devices. In this context, the purpose of the present paper is to outline a novel strategy for the control of DE-based VIA. Although the proposed methodology is applicable to generic DE morphologies, the considered system is composed of a couple of conically-shaped DE films in agonistic-antagonistic configuration. Following previously published results, the system dynamic model is firstly recalled. Then, a DE viscoelasticity compensation technique is outlined together with a control law able to shape the DE actuator impedance as desired. The operative limits of the system are explicitly considered and managed in the controller by increasing the operating DE actuator stiffness if required. In addition, the problem of model uncertainties compensation is also addressed. Finally, as a preliminary step towards the realization of a practical DE-based VIA, the proposed control approach is validated by means of simulations. Copyright {\\textcopyright} 2013 by ASME.},\r\n  doi       = {10.1115/SMASIS2013-3267},\r\n  isbn      = {978-0-7918-5603-1},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?doi=10.1115/SMASIS2013-3267},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2013_6.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Artificial Muscles based on Dielectric Elastomers (DE) can potentially enable the realization of bio-inspired actuation systems whose intrinsic compliance and damping can be varied according to the task requirements. Nonetheless, the control of DE-based Variable Impedance Actuators (VIA) is not trivial owing to the non-linear viscoelastic response which characterizes the acrylic dielectrics commonly employed in practical devices. In this context, the purpose of the present paper is to outline a novel strategy for the control of DE-based VIA. Although the proposed methodology is applicable to generic DE morphologies, the considered system is composed of a couple of conically-shaped DE films in agonistic-antagonistic configuration. Following previously published results, the system dynamic model is firstly recalled. Then, a DE viscoelasticity compensation technique is outlined together with a control law able to shape the DE actuator impedance as desired. The operative limits of the system are explicitly considered and managed in the controller by increasing the operating DE actuator stiffness if required. In addition, the problem of model uncertainties compensation is also addressed. Finally, as a preliminary step towards the realization of a practical DE-based VIA, the proposed control approach is validated by means of simulations. Copyright © 2013 by ASME.\n
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\n \n\n \n \n Meike, D.; Pellicciari, M.; Berselli, G.; Vergnano, A.; and Ribickis, L.\n\n\n \n \n \n \n \n Increasing the energy efficiency of multi-robot production lines in the automotive industry.\n \n \n \n \n\n\n \n\n\n\n In 2012 IEEE International Conference on Automation Science and Engineering (CASE), pages 700–705, aug 2012. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"IncreasingPaper\n  \n \n \n \"Increasing paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InProceedings{Meike2012,\r\n  author    = {Meike, Davis and Pellicciari, Marcello and Berselli, Giovanni and Vergnano, Alberto and Ribickis, Leonids},\r\n  title     = {{Increasing the energy efficiency of multi-robot production lines in the automotive industry}},\r\n  booktitle = {2012 IEEE International Conference on Automation Science and Engineering (CASE)},\r\n  year      = {2012},\r\n  pages     = {700--705},\r\n  month     = {aug},\r\n  publisher = {IEEE},\r\n  abstract  = {This paper quantitatively reports about potential energy savings on robotic assembly lines for the automotive industry. The key aspect of the proposed approach is that both cell production rate and robot hardware limitations are considered as strict constraints, so that no plant revision is needed. The methodology relies on: a) calculation of energy-optimal trajectories, by means of time scaling, concerning the robots' motion from the last process point to the home positions; b) reduction of the energy consumption via earlier release of the actuator brake when the robots are kept stationary. Simulation results are presented, which are based on the production timing characteristics measured on a real plant. {\\textcopyright} 2012 IEEE.},\r\n  doi       = {10.1109/CoASE.2012.6386391},\r\n  isbn      = {978-1-4673-0430-6},\r\n  issn      = {21618070},\r\n  keywords  = {Energy Efficiency,Industrial Robots,Production Planning,Trajectory Scaling},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://ieeexplore.ieee.org/document/6386391/},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2012_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n This paper quantitatively reports about potential energy savings on robotic assembly lines for the automotive industry. The key aspect of the proposed approach is that both cell production rate and robot hardware limitations are considered as strict constraints, so that no plant revision is needed. The methodology relies on: a) calculation of energy-optimal trajectories, by means of time scaling, concerning the robots' motion from the last process point to the home positions; b) reduction of the energy consumption via earlier release of the actuator brake when the robots are kept stationary. Simulation results are presented, which are based on the production timing characteristics measured on a real plant. © 2012 IEEE.\n
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\n \n\n \n \n Berselli, G.; Vertechy, R.; Babič, M.; and Parenti Castelli, V.\n\n\n \n \n \n \n \n Implementation of a Variable Stiffness Actuator Based on Dielectric Elastomers: A Feasibility Study.\n \n \n \n \n\n\n \n\n\n\n In ASME 2012 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2012, pages 497, sep 2012. ASME\n \n\n\n\n
\n\n\n\n \n \n \"ImplementationPaper\n  \n \n \n \"Implementation paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Berselli2012,\r\n  author    = {Berselli, Giovanni and Vertechy, Rocco and Babi{\\v{c}}, Mitja and {Parenti Castelli}, Vincenzo},\r\n  title     = {{Implementation of a Variable Stiffness Actuator Based on Dielectric Elastomers: A Feasibility Study}},\r\n  booktitle = {ASME 2012 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2012},\r\n  year      = {2012},\r\n  pages     = {497},\r\n  month     = {sep},\r\n  publisher = {ASME},\r\n  abstract  = {Dielectric Elastomers (DE) seem to be a promising tech- nology for the implementation of light and compact Variable Stiffness Actuators (VSAs), thanks to their large power densi- ties, low costs and shock-insensitivity. Nonetheless, the de- velopment of DE-based VSA is not trivial owing to the rele- vant dissipative phenomena that affect the DE when subjected to rapidly changing deformations. In this context, the purpose of the present paper is to investigate the practical feasibility of DE-based VSA. As a case study, two conically-shaped actuators, in agonistic-antagonistic configuration, are modeled accounting for the visco-hyperelastic nature of the DE films. The model is then linearized and employed for the design of a stiffness con- troller. The control algorithm requires the knowledge of the ac- tuator configuration (via a position sensor) and of the force ex- changed with the environment (via a force sensor). An optimum full-state observer is then implemented, which enables both ac- curate estimation of the DE time-dependent behavior and ade- quate suppression of sensor measurement noise. At last, exper- imental results are provided together with the description of an effective electronic driver that allows an independent activation ofthe agonistic-antagonistic DE membranes.},\r\n  doi       = {10.1115/SMASIS2012-8144},\r\n  isbn      = {978-0-7918-4509-7},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?doi=10.1115/SMASIS2012-8144},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2012_3.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Dielectric Elastomers (DE) seem to be a promising tech- nology for the implementation of light and compact Variable Stiffness Actuators (VSAs), thanks to their large power densi- ties, low costs and shock-insensitivity. Nonetheless, the de- velopment of DE-based VSA is not trivial owing to the rele- vant dissipative phenomena that affect the DE when subjected to rapidly changing deformations. In this context, the purpose of the present paper is to investigate the practical feasibility of DE-based VSA. As a case study, two conically-shaped actuators, in agonistic-antagonistic configuration, are modeled accounting for the visco-hyperelastic nature of the DE films. The model is then linearized and employed for the design of a stiffness con- troller. The control algorithm requires the knowledge of the ac- tuator configuration (via a position sensor) and of the force ex- changed with the environment (via a force sensor). An optimum full-state observer is then implemented, which enables both ac- curate estimation of the DE time-dependent behavior and ade- quate suppression of sensor measurement noise. At last, exper- imental results are provided together with the description of an effective electronic driver that allows an independent activation ofthe agonistic-antagonistic DE membranes.\n
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\n \n\n \n \n Meng, Q.; Berselli, G.; Vertechy, R.; and Castelli, V. P.\n\n\n \n \n \n \n \n An Improved Method for Designing Flexure-Based Nonlinear Springs.\n \n \n \n \n\n\n \n\n\n\n In ASME IDETC Int. Design Engineering Technical Conferences: 36th Mechanisms and Robotics Conference, Parts A and B, pages 211, aug 2012. ASME\n \n\n\n\n
\n\n\n\n \n \n \"AnPaper\n  \n \n \n \"An paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Meng2012,\r\n  author    = {Meng, Qiaoling and Berselli, Giovanni and Vertechy, Rocco and Castelli, Vincenzo Parenti},\r\n  title     = {{An Improved Method for Designing Flexure-Based Nonlinear Springs}},\r\n  booktitle = {ASME IDETC Int. Design Engineering Technical Conferences: 36th Mechanisms and Robotics Conference, Parts A and B},\r\n  year      = {2012},\r\n  pages     = {211},\r\n  month     = {aug},\r\n  publisher = {ASME},\r\n  abstract  = {Monolithic Flexure-based Compliant Mechanisms (MFCM) can functionally act as nonlinear springs by providing a desired load-displacement profile at one point on their structure. Once the MFCM topology is chosen, these particular springs can be conveniently synthesized by resorting to the well-known Pseudo- Rigid-Body approximation, whose accuracy strongly depends on the modeling precision ofthe flexures' principal compliance. For various types of flexures, closed-form solutions have been pro- posed which express the compliance factors as functions of the flexure dimensions. Nonetheless, the reliability of these analyt- ical relations is limited to slender, beam-like, hinges undergo- ing small deflections. In order to overcome such limitations, this paper provides empirical equations, derived from finite element analysis, that can be used for the optimal design of circular, el- liptical, and corner-filleted flexural hinges with general aspect ratios on the basis of both principal compliance and maximum bearable stress. As a case study, a nonlinear spring conceived as a four-bar linkage MFCM is synthesized and simulated by means offinite element analysis. Numerical results confirm that the aforementioned empirical equations outperform their analyt- ical counterparts when modeling thick cross-section hinges un- dergoing large deflections},\r\n  doi       = {10.1115/DETC2012-70367},\r\n  isbn      = {978-0-7918-4503-5},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?doi=10.1115/DETC2012-70367},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2012_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Monolithic Flexure-based Compliant Mechanisms (MFCM) can functionally act as nonlinear springs by providing a desired load-displacement profile at one point on their structure. Once the MFCM topology is chosen, these particular springs can be conveniently synthesized by resorting to the well-known Pseudo- Rigid-Body approximation, whose accuracy strongly depends on the modeling precision ofthe flexures' principal compliance. For various types of flexures, closed-form solutions have been pro- posed which express the compliance factors as functions of the flexure dimensions. Nonetheless, the reliability of these analyt- ical relations is limited to slender, beam-like, hinges undergo- ing small deflections. In order to overcome such limitations, this paper provides empirical equations, derived from finite element analysis, that can be used for the optimal design of circular, el- liptical, and corner-filleted flexural hinges with general aspect ratios on the basis of both principal compliance and maximum bearable stress. As a case study, a nonlinear spring conceived as a four-bar linkage MFCM is synthesized and simulated by means offinite element analysis. Numerical results confirm that the aforementioned empirical equations outperform their analyt- ical counterparts when modeling thick cross-section hinges un- dergoing large deflections\n
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\n \n\n \n \n Pellicciari, M.; Renzi, C.; Leali, F.; Andrisano, A. O.; and Berselli, G.\n\n\n \n \n \n \n \n Selecting alternatives in the conceptual design phase: an application of Fuzzy-AHP and Pugh's Controlled Convergence.\n \n \n \n \n\n\n \n\n\n\n In Workshop ADM Virtual Concept,, volume 9, pages 1–1, 2012. \n \n\n\n\n
\n\n\n\n \n \n \"Selecting paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InProceedings{Pellicciari2012,\r\n  author    = {Pellicciari, Marcello and Renzi, Cristina and Leali, Francesco and Andrisano, Angelo O. and Berselli, Giovanni},\r\n  title     = {{Selecting alternatives in the conceptual design phase: an application of Fuzzy-AHP and Pugh's Controlled Convergence}},\r\n  booktitle = {Workshop ADM Virtual Concept,},\r\n  year      = {2012},\r\n  volume    = {9},\r\n  number    = {1},\r\n  pages     = {1--1},\r\n  abstract  = {Conceptual design and, in particular, selection of conceptual design alternatives are proved to be crucial issues in product development. Selecting alternatives is a complex multicriteria decision making problem and represents a challenging task for engineering designers. Many different methods and techniques have been presented by literature in the last years but just a little use of them is often made by industry, due to several causes. One of them is that more efforts should be spent in presenting clear comparisons between the various approaches from an engineering design point of view. Such problem is tackled by the present paper which proposes the pairwise comparison of two of the most representative and widely used decision support methods. Method:},\r\n  doi       = {10.1007/s12008-013-0187-y},\r\n  issn      = {1955-2505},\r\n  keywords  = {Concept selection,Engineering design methods,Fuzzy-analytic hierarchy process,Pugh's controlled convergence},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2012_S2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Conceptual design and, in particular, selection of conceptual design alternatives are proved to be crucial issues in product development. Selecting alternatives is a complex multicriteria decision making problem and represents a challenging task for engineering designers. Many different methods and techniques have been presented by literature in the last years but just a little use of them is often made by industry, due to several causes. One of them is that more efforts should be spent in presenting clear comparisons between the various approaches from an engineering design point of view. Such problem is tackled by the present paper which proposes the pairwise comparison of two of the most representative and widely used decision support methods. Method:\n
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\n \n\n \n \n Berselli, G.; Piccinini, M.; and Vassura, G.\n\n\n \n \n \n \n \n Comparative evaluation of the selective compliance in elastic joints for robotic structures.\n \n \n \n \n\n\n \n\n\n\n In 2011 IEEE International Conference on Robotics and Automation, pages 4626–4631, may 2011. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"ComparativePaper\n  \n \n \n \"Comparative paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n\n\n\n
\n 
@InProceedings{Berselli2011,\r\n  author    = {Berselli, Giovanni and Piccinini, Marco and Vassura, Gabriele},\r\n  title     = {{Comparative evaluation of the selective compliance in elastic joints for robotic structures}},\r\n  booktitle = {2011 IEEE International Conference on Robotics and Automation},\r\n  year      = {2011},\r\n  pages     = {4626--4631},\r\n  month     = {may},\r\n  publisher = {IEEE},\r\n  abstract  = {After a brief reminder about advantages and problems related to the application of large displacement elastic joints in robotic structures, this paper outlines an approach for quantifying the joint's performance in terms of selective compliance (i.e. capability of providing low stiffness along a single desired direction). Local and global performance indexes are proposed which can be used to discern which joint best suits the application requirements. The approach is validated by comparing two beam-like flexures and two novel compliant joints with non trivial morphology. {\\textcopyright} 2011 IEEE.},\r\n  doi       = {10.1109/ICRA.2011.5980201},\r\n  isbn      = {978-1-61284-386-5},\r\n  issn      = {10504729},\r\n  keywords  = {Large displacement compliant joints,Robotic fingers},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://ieeexplore.ieee.org/document/5980201/},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2011_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n After a brief reminder about advantages and problems related to the application of large displacement elastic joints in robotic structures, this paper outlines an approach for quantifying the joint's performance in terms of selective compliance (i.e. capability of providing low stiffness along a single desired direction). Local and global performance indexes are proposed which can be used to discern which joint best suits the application requirements. The approach is validated by comparing two beam-like flexures and two novel compliant joints with non trivial morphology. © 2011 IEEE.\n
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\n \n\n \n \n Berselli, G.; and Vassura, G.\n\n\n \n \n \n \n \n Bond Graph Modeling and Simulation of a Constant-Force Dielectric Elastomer Actuator.\n \n \n \n \n\n\n \n\n\n\n In ASME 2011 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, Volume 2, pages 179–188, 2011. ASME\n \n\n\n\n
\n\n\n\n \n \n \"BondPaper\n  \n \n \n \"Bond paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Berselli2011a,\r\n  author    = {Berselli, Giovanni and Vassura, Gabriele},\r\n  title     = {{Bond Graph Modeling and Simulation of a Constant-Force Dielectric Elastomer Actuator}},\r\n  booktitle = {ASME 2011 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, Volume 2},\r\n  year      = {2011},\r\n  pages     = {179--188},\r\n  publisher = {ASME},\r\n  abstract  = {Constant-Force actuators based on Dielectric Elastomers (DE) can be obtained by coupling a DE film with particular compliant frames whose structural properties must be carefully designed. In any case, the practical achievement of a desired force profile can be quite a challenging task owing to the time- dependent phenomena which affect the DE electromechanical re- sponse. Within this scenario, a hyper-viscoelastic model of a rectangular Constant-Force actuator is reported. The model, based on the Bond Graph formalism, can be used as an engi- neering tool when designing and/or controlling actuators which are expected to work under given nominal conditions. Numerical simulations are provided which predicts the system response to fast changes in activation voltage and actuator position as im- posed by an external user.},\r\n  doi       = {10.1115/SMASIS2011-5027},\r\n  isbn      = {978-0-7918-5472-3},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1637659},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2011_3.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Constant-Force actuators based on Dielectric Elastomers (DE) can be obtained by coupling a DE film with particular compliant frames whose structural properties must be carefully designed. In any case, the practical achievement of a desired force profile can be quite a challenging task owing to the time- dependent phenomena which affect the DE electromechanical re- sponse. Within this scenario, a hyper-viscoelastic model of a rectangular Constant-Force actuator is reported. The model, based on the Bond Graph formalism, can be used as an engi- neering tool when designing and/or controlling actuators which are expected to work under given nominal conditions. Numerical simulations are provided which predicts the system response to fast changes in activation voltage and actuator position as im- posed by an external user.\n
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\n \n\n \n \n Pellicciari, M.; Berselli, G.; Leali, F.; Vergnano, A.; and Lennartson, B.\n\n\n \n \n \n \n \n Object-Oriented Modeling of Industrial Manipulators With Application to Energy Optimal Trajectory Scaling.\n \n \n \n \n\n\n \n\n\n\n In ASME IDETC Int. Design Engineering Technical Conferences: 37th Design Automation Conference, Parts A and B, pages 997–1006, 2011. ASME\n \n\n\n\n
\n\n\n\n \n \n \"Object-OrientedPaper\n  \n \n \n \"Object-Oriented paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
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@InProceedings{Pellicciari2011,\r\n  author    = {Pellicciari, Marcello and Berselli, Giovanni and Leali, Francesco and Vergnano, Alberto and Lennartson, Bengt},\r\n  title     = {{Object-Oriented Modeling of Industrial Manipulators With Application to Energy Optimal Trajectory Scaling}},\r\n  booktitle = {ASME IDETC Int. Design Engineering Technical Conferences: 37th Design Automation Conference, Parts A and B},\r\n  year      = {2011},\r\n  pages     = {997--1006},\r\n  publisher = {ASME},\r\n  abstract  = {The development of safe, energy efficient mechatronic sys- tems is currently changing standard paradigms in the design and control ofindustrial manipulators. In particular, most optimiza- tion strategies require the improvement or the substitution ofdif- ferent system components. On the other hand, from an indus- try point ofview, it would be desirable to develop energy saving methods applicable also to established manufacturing systems being liable of small possibilities for adjustments. Within this scenario, an engineering method is reported for optimizing the energy consumption ofserial manipulators for a given operation. An object-oriented modeling technique, based on bond graph, is used to derive the robot electromechanical dynamics. The system power flow is then highlighted and parameterized as a function of the total execution times. Finally, a case study is reported show- ing the possibility to reduce the operation energy consumption when allowed by scheduling or manufacturing constraints.},\r\n  doi       = {10.1115/DETC2011-48390},\r\n  isbn      = {978-0-7918-5482-2},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1640751},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2011_1.pdf},\r\n}\r\n\r\n
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\n The development of safe, energy efficient mechatronic sys- tems is currently changing standard paradigms in the design and control ofindustrial manipulators. In particular, most optimiza- tion strategies require the improvement or the substitution ofdif- ferent system components. On the other hand, from an indus- try point ofview, it would be desirable to develop energy saving methods applicable also to established manufacturing systems being liable of small possibilities for adjustments. Within this scenario, an engineering method is reported for optimizing the energy consumption ofserial manipulators for a given operation. An object-oriented modeling technique, based on bond graph, is used to derive the robot electromechanical dynamics. The system power flow is then highlighted and parameterized as a function of the total execution times. Finally, a case study is reported show- ing the possibility to reduce the operation energy consumption when allowed by scheduling or manufacturing constraints.\n
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\n \n\n \n \n Pellicciari, M.; Berselli, G.; Leali, F.; and Vergnano, A.\n\n\n \n \n \n \n \n A minimal touch approach for optimizing energy efficiency in pick-and-place manipulators.\n \n \n \n \n\n\n \n\n\n\n In 2011 15th International Conference on Advanced Robotics (ICAR), pages 100–105, jun 2011. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"APaper\n  \n \n \n \"A paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n\n\n\n
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@InProceedings{Pellicciari2011a,\r\n  author    = {Pellicciari, Marcello and Berselli, Giovanni and Leali, Francesco and Vergnano, Alberto},\r\n  title     = {{A minimal touch approach for optimizing energy efficiency in pick-and-place manipulators}},\r\n  booktitle = {2011 15th International Conference on Advanced Robotics (ICAR)},\r\n  year      = {2011},\r\n  pages     = {100--105},\r\n  month     = {jun},\r\n  publisher = {IEEE},\r\n  abstract  = {The interest in novel engineering methods and tools for optimizing the energy consumption in robotic systems is currently increasing. In particular, from an industry point of view, it is desirable to develop energy saving strategies applicable also to established manufacturing systems, being liable of small possibilities for adjustments. Within this scenario, an engineering method is reported for reducing the total energy consumption of pick-and-place manipulators for given end-effector trajectory. Firstly, an electromechanical model of parallel/serial manipulators is derived. Then, an energy-optimal trajectory is calculated, by means of time scaling, starting from a pre-scheduled trajectory performed at maximum speed (i.e. compatible with actuators limitations). A simulation case study finally shows the effectiveness of the proposed procedure. {\\textcopyright} 2011 IEEE.},\r\n  doi       = {10.1109/ICAR.2011.6088620},\r\n  isbn      = {978-1-4577-1159-6},\r\n  keywords  = {Pick-and-place manipulators,energy efficiency},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://ieeexplore.ieee.org/document/6088620/},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2011_4.pdf},\r\n}\r\n\r\n
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\n The interest in novel engineering methods and tools for optimizing the energy consumption in robotic systems is currently increasing. In particular, from an industry point of view, it is desirable to develop energy saving strategies applicable also to established manufacturing systems, being liable of small possibilities for adjustments. Within this scenario, an engineering method is reported for reducing the total energy consumption of pick-and-place manipulators for given end-effector trajectory. Firstly, an electromechanical model of parallel/serial manipulators is derived. Then, an energy-optimal trajectory is calculated, by means of time scaling, starting from a pre-scheduled trajectory performed at maximum speed (i.e. compatible with actuators limitations). A simulation case study finally shows the effectiveness of the proposed procedure. © 2011 IEEE.\n
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\n \n\n \n \n Berselli, G.; Piccinini, M.; and Vassura, G.\n\n\n \n \n \n \n \n Tailoring the viscoelastic properties of soft pads for robotic limbs through purposely designed fluid filled structures.\n \n \n \n \n\n\n \n\n\n\n In 2010 IEEE International Conference on Robotics and Automation, pages 759–764, may 2010. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"TailoringPaper\n  \n \n \n \"Tailoring paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
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@InProceedings{Berselli2010,\r\n  author    = {Berselli, Giovanni and Piccinini, Marco and Vassura, Gabriele},\r\n  title     = {{Tailoring the viscoelastic properties of soft pads for robotic limbs through purposely designed fluid filled structures}},\r\n  booktitle = {2010 IEEE International Conference on Robotics and Automation},\r\n  year      = {2010},\r\n  pages     = {759--764},\r\n  month     = {may},\r\n  publisher = {IEEE},\r\n  abstract  = {The majority of soft pads for robotic limbs studied so far were made by visco-elastic polymeric solids whose behavior is significantly influenced by the rate of application of the external loads or displacements. In particular, contact interfaces which are intrinsically visco-elastic are found, for instance, in human fingers and feet or in various robotic devices covered by a compliant surface. An outstanding instance are anthropomorphic hands where time-dependent phenomena profoundly affects the stability and sustainability of the grasp. Alternatively to homogenous solid pads, this paper proposes the use of fluid filled soft structures with differentiated layer design [1] that is the adoption of a single solid material, dividing the overall thickness of the pad into a continuous skin layer coupled with an internal layer having communicating voids. The voids are then hermetically sealed and, in case, filled with fluid. Given the allowable pad thickness, the purpose is to tailor the pad properties to the specific application by 1) selecting a skin material characterized by proper tribological features, 2) designing an inner layer geometry so as to obtain a specific static compliance, 3) filling the pad with a viscous fluid chosen so as to modify time-dependent phenomena and increase damping effects. The proposed concept is validated by designing artificial pads whose viscoelastic properties are either similar or more pronounced when compared to those of the human fingertip. {\\textcopyright}2010 IEEE.},\r\n  doi       = {10.1109/ROBOT.2010.5509320},\r\n  isbn      = {978-1-4244-5038-1},\r\n  issn      = {10504729},\r\n  keywords  = {Experimental analysis,Human fingers,Robotic hands,Soft fingertip design},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://ieeexplore.ieee.org/document/5509320/},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2010_3.pdf},\r\n}\r\n\r\n
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\n The majority of soft pads for robotic limbs studied so far were made by visco-elastic polymeric solids whose behavior is significantly influenced by the rate of application of the external loads or displacements. In particular, contact interfaces which are intrinsically visco-elastic are found, for instance, in human fingers and feet or in various robotic devices covered by a compliant surface. An outstanding instance are anthropomorphic hands where time-dependent phenomena profoundly affects the stability and sustainability of the grasp. Alternatively to homogenous solid pads, this paper proposes the use of fluid filled soft structures with differentiated layer design [1] that is the adoption of a single solid material, dividing the overall thickness of the pad into a continuous skin layer coupled with an internal layer having communicating voids. The voids are then hermetically sealed and, in case, filled with fluid. Given the allowable pad thickness, the purpose is to tailor the pad properties to the specific application by 1) selecting a skin material characterized by proper tribological features, 2) designing an inner layer geometry so as to obtain a specific static compliance, 3) filling the pad with a viscous fluid chosen so as to modify time-dependent phenomena and increase damping effects. The proposed concept is validated by designing artificial pads whose viscoelastic properties are either similar or more pronounced when compared to those of the human fingertip. ©2010 IEEE.\n
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\n \n\n \n \n Giovanni, B.; and Gabriele, V.\n\n\n \n \n \n \n \n Nonlinear modeling and experimental evaluation of fluid-filled soft pads for robotic hands.\n \n \n \n \n\n\n \n\n\n\n In 9th YSESM Youth Symposium on Experimental Solid Mechanics, pages 68–73, 2010. \n \n\n\n\n
\n\n\n\n \n \n \"Nonlinear paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n\n\n\n
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@InProceedings{Giovanni2010,\r\n  author    = {Giovanni, Berselli and Gabriele, Vassura},\r\n  title     = {{Nonlinear modeling and experimental evaluation of fluid-filled soft pads for robotic hands}},\r\n  booktitle = {9th YSESM Youth Symposium on Experimental Solid Mechanics},\r\n  year      = {2010},\r\n  number    = {Dld},\r\n  pages     = {68--73},\r\n  abstract  = {After a brief reminder about previous work, this paper addresses the dynamic characterization of fluid-filled soft pads for robotic hands. The adopted pad specimens are constituted by a single hyper-elastic material having hardness similar to that of the human thumb. The overall pad thickness is then divided into a continuous skin layer and an internal layer having communicating voids which are hermetically sealed and filled with a viscous fluid. Despite a more complicated design, it has been proven [1-3] that the pads present enhanced compliance and damping properties, a lower thickness and a higher surface hardness when compared to previously published solutions. In addition, a quasi-linear model, frequently used to describe the behavior of soft biological tissues can be applied in order to predict and control the pad interaction with the environment during grasping and manipulation tasks. In particular, the experimental tests necessary to evaluate the parameters which determine the pad dynamic response are described and discussed in detail.},\r\n  isbn      = {9788895940304},\r\n  keywords  = {quasi-linear model,soft fingers,viscoelasticity},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2010_S2.pdf},\r\n}\r\n\r\n
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\n After a brief reminder about previous work, this paper addresses the dynamic characterization of fluid-filled soft pads for robotic hands. The adopted pad specimens are constituted by a single hyper-elastic material having hardness similar to that of the human thumb. The overall pad thickness is then divided into a continuous skin layer and an internal layer having communicating voids which are hermetically sealed and filled with a viscous fluid. Despite a more complicated design, it has been proven [1-3] that the pads present enhanced compliance and damping properties, a lower thickness and a higher surface hardness when compared to previously published solutions. In addition, a quasi-linear model, frequently used to describe the behavior of soft biological tissues can be applied in order to predict and control the pad interaction with the environment during grasping and manipulation tasks. In particular, the experimental tests necessary to evaluate the parameters which determine the pad dynamic response are described and discussed in detail.\n
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\n \n\n \n \n Berselli, G.; Piccinini, M.; and Vassura, G.\n\n\n \n \n \n \n \n On Designing Structured Soft Covers for Robotic Limbs With Predetermined Compliance.\n \n \n \n \n\n\n \n\n\n\n In ASME IDETC Int. Design Engineering Technical Conferences: 34th Annual Mechanisms and Robotics Conference, Parts A and B, pages 165–174, 2010. ASME\n \n\n\n\n
\n\n\n\n \n \n \"OnPaper\n  \n \n \n \"On paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Berselli2010a,\r\n  author    = {Berselli, Giovanni and Piccinini, Marco and Vassura, Gabriele},\r\n  title     = {{On Designing Structured Soft Covers for Robotic Limbs With Predetermined Compliance}},\r\n  booktitle = {ASME IDETC Int. Design Engineering Technical Conferences: 34th Annual Mechanisms and Robotics Conference, Parts A and B},\r\n  year      = {2010},\r\n  pages     = {165--174},\r\n  publisher = {ASME},\r\n  abstract  = {In order to overcome the limits due to the fact that homoge- neous layers of soft material placed over robotic limbs behave differently with respect to biological models, this paper suggests the adoption of soft covers (pads) with differentiated structure. In particular, it is proposed to divide the allowable pad thickness into two layers: a continuous external layer (skin) and a dis- continuous internal layer, so that the overall stiffness can be ad- justed by properly shaping the discontinuous layer. The method- ology adopted for designing the internal layer is composed of two steps. Firstly, the cover surface is conceptually split into finite elementary triangular sub-regions. Secondly, the internal layer of each triangular element is designed in order to repli- cate the shape of the non-linear compression law which is typ- ical of endoskeletal structures covered by pulpy tissues. A se- ries ofsymmetrically-disposed inclined micro-beams is used for the purpose. Once the compression law ofeach triangular ele- ment is known, the overall pad compliance can be modulated by correctly choosing the number and size ofthe elements compos- ing the pad. Equipment and results ofa combined experimental and numerical analysis (FEM) are presented. The results con- firm that the proposed concept can be an effective solution when designing soft covers whose behavior need to match the compli- ance ofthe biological counterpart. As an example, artificial pads which mimic the human finger behavior are presented. ∗Corresponding},\r\n  doi       = {10.1115/DETC2010-28965},\r\n  isbn      = {978-0-7918-4410-6},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1611172},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2010_2.pdf},\r\n}\r\n\r\n
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\n In order to overcome the limits due to the fact that homoge- neous layers of soft material placed over robotic limbs behave differently with respect to biological models, this paper suggests the adoption of soft covers (pads) with differentiated structure. In particular, it is proposed to divide the allowable pad thickness into two layers: a continuous external layer (skin) and a dis- continuous internal layer, so that the overall stiffness can be ad- justed by properly shaping the discontinuous layer. The method- ology adopted for designing the internal layer is composed of two steps. Firstly, the cover surface is conceptually split into finite elementary triangular sub-regions. Secondly, the internal layer of each triangular element is designed in order to repli- cate the shape of the non-linear compression law which is typ- ical of endoskeletal structures covered by pulpy tissues. A se- ries ofsymmetrically-disposed inclined micro-beams is used for the purpose. Once the compression law ofeach triangular ele- ment is known, the overall pad compliance can be modulated by correctly choosing the number and size ofthe elements compos- ing the pad. Equipment and results ofa combined experimental and numerical analysis (FEM) are presented. The results con- firm that the proposed concept can be an effective solution when designing soft covers whose behavior need to match the compli- ance ofthe biological counterpart. As an example, artificial pads which mimic the human finger behavior are presented. ∗Corresponding\n
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\n \n\n \n \n Vertechy, R; Bergamasco, M; Berselli, G; and Castelli, V P\n\n\n \n \n \n \n \n Development and Experimental Validation of a Closed-Loop Interaction-Force Controller for Dielectric Elastomer Actuators.\n \n \n \n \n\n\n \n\n\n\n In Actuator 10, (E) Conference Proceedings, pages 842–845, 2010. \n \n\n\n\n
\n\n\n\n \n \n \"Development paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n\n\n\n
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@InProceedings{Vertechy2010,\r\n  author    = {Vertechy, R and Bergamasco, M and Berselli, G and Castelli, V P},\r\n  title     = {{Development and Experimental Validation of a Closed-Loop Interaction-Force Controller for Dielectric Elastomer Actuators}},\r\n  booktitle = {Actuator 10, (E) Conference Proceedings},\r\n  year      = {2010},\r\n  number    = {June},\r\n  pages     = {842--845},\r\n  abstract  = {This paper addresses the development of a force feedback controller for an agonist-antagonist conically-shaped Dielectric Elastomer linear actuator. The controller employs a position sensor, which determines the actuator configuration, and a force sensor, which measures the interaction force the actuator exchanges with the environment, and implements an optimum full-state observer, which enables both accurate estimation of the time-dependent behaviour of the elastomeric material and adequate suppression of sensor measurement noise. Experimental results are provided to validate the proposed Dielectric Elastomer actuator-controller architecture.},\r\n  keywords  = {agonist-antagonist actuation,dielectric elastomers,force-feedback control},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2010_S1.pdf},\r\n}\r\n\r\n
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\n This paper addresses the development of a force feedback controller for an agonist-antagonist conically-shaped Dielectric Elastomer linear actuator. The controller employs a position sensor, which determines the actuator configuration, and a force sensor, which measures the interaction force the actuator exchanges with the environment, and implements an optimum full-state observer, which enables both accurate estimation of the time-dependent behaviour of the elastomeric material and adequate suppression of sensor measurement noise. Experimental results are provided to validate the proposed Dielectric Elastomer actuator-controller architecture.\n
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\n \n\n \n \n Palli, G.; Melchiorri, C.; Berselli, G.; and Vassura, G.\n\n\n \n \n \n \n \n Design and Modeling of Variable Stiffness Joints Based on Compliant Flexures.\n \n \n \n \n\n\n \n\n\n\n In ASME IDETC Int. Design Engineering Technical Conferences: 34th Annual Mechanisms and Robotics Conference, Parts A and B, pages 1069–1078, 2010. ASME\n \n\n\n\n
\n\n\n\n \n \n \"DesignPaper\n  \n \n \n \"Design paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n\n\n\n
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@InProceedings{Palli2010,\r\n  author    = {Palli, Gianluca and Melchiorri, Claudio and Berselli, Giovanni and Vassura, Gabriele},\r\n  title     = {{Design and Modeling of Variable Stiffness Joints Based on Compliant Flexures}},\r\n  booktitle = {ASME IDETC Int. Design Engineering Technical Conferences: 34th Annual Mechanisms and Robotics Conference, Parts A and B},\r\n  year      = {2010},\r\n  pages     = {1069--1078},\r\n  publisher = {ASME},\r\n  abstract  = {The development of safe and dependable robots for physi- cal human-robot interaction is actually changing the way robot are designed introducing several new technological issues. Out- standing examples are the adoption ofsoft covers and compliant transmissions or the definition of motion control laws that al- low a compliant behavior in reaction to possible collisions, while preserving accuracy and performance during the motion in the free space. In this scenario, a growing interest is devoted to the study ofvariable stiffness joints. With the aim of improving the compactness and the flexi- bility of existing mechanical solutions, a variable stiffness joint based on the use of compliant flexures is investigated. The pro- posed concept allows the implementation of a desired stiffness profile and range along with the selection of the maximum joint deflection. In particular, this paper reports a systematic proce- dure for the synthesis ofa fully-compliant mechanism used as a non-linear transmission, together with a preliminary design of the overall joint.},\r\n  doi       = {10.1115/DETC2010-28425},\r\n  isbn      = {978-0-7918-4410-6},\r\n  keywords  = {DETC2010-28425},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1611405},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2010_1.pdf},\r\n}\r\n\r\n
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\n The development of safe and dependable robots for physi- cal human-robot interaction is actually changing the way robot are designed introducing several new technological issues. Out- standing examples are the adoption ofsoft covers and compliant transmissions or the definition of motion control laws that al- low a compliant behavior in reaction to possible collisions, while preserving accuracy and performance during the motion in the free space. In this scenario, a growing interest is devoted to the study ofvariable stiffness joints. With the aim of improving the compactness and the flexi- bility of existing mechanical solutions, a variable stiffness joint based on the use of compliant flexures is investigated. The pro- posed concept allows the implementation of a desired stiffness profile and range along with the selection of the maximum joint deflection. In particular, this paper reports a systematic proce- dure for the synthesis ofa fully-compliant mechanism used as a non-linear transmission, together with a preliminary design of the overall joint.\n
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\n \n\n \n \n Vertechy, R.; Babič, M.; Berselli, G.; Parenti-Castelli, V.; Lenarčič, J.; and Vassura, G.\n\n\n \n \n \n \n \n A novel activation strategy for improving the performance of dielectric elastomer actuators.\n \n \n \n \n\n\n \n\n\n\n In MULTIBODY DYNAMICS 2009, ECCOMAS Thematic Conference, pages 1–16, 2009. \n \n\n\n\n
\n\n\n\n \n \n \"A paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InProceedings{Vertechy2009,\r\n  author    = {Vertechy, Rocco and Babi{\\v{c}}, Mitja and Berselli, Giovanni and Parenti-Castelli, Vincenzo and Lenar{\\v{c}}i{\\v{c}}, Jadran and Vassura, Gabriele},\r\n  title     = {{A novel activation strategy for improving the performance of dielectric elastomer actuators}},\r\n  booktitle = {MULTIBODY DYNAMICS 2009, ECCOMAS Thematic Conference},\r\n  year      = {2009},\r\n  number    = {July},\r\n  pages     = {1--16},\r\n  abstract  = {Actuators based on Dielectric Elastomers are a promising technology in robotic and mechatronic applications. The overall actuator performances are influenced by the non- linear and highly coupled electrical and mechanical responses of the employed materials. To date, the practical dynamic response and controllability of actuators based on Dielectric Elastomers are limited by the inadequacy of the employed activation strategy, which is based on voltage-regulated converters. In this paper a novel activation strategy is proposed for Di- electric Elastomer actuators which is based on a driving circuit derived from the flyback con- verter topology. A closed-loop position controller for Dielectric Elastomer actuators, which employs this driving circuit is also presented. Experimental results are reported which show that the proposed driving circuit outperforms the traditional strategies in terms of fast open- loop actuator activation and good closed-loop actuator controllability.},\r\n  keywords  = {Dielectric Elastomers,Driving Circuits,Position Control.,Smart Actuators},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2009_S1.pdf},\r\n}\r\n\r\n
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\n Actuators based on Dielectric Elastomers are a promising technology in robotic and mechatronic applications. The overall actuator performances are influenced by the non- linear and highly coupled electrical and mechanical responses of the employed materials. To date, the practical dynamic response and controllability of actuators based on Dielectric Elastomers are limited by the inadequacy of the employed activation strategy, which is based on voltage-regulated converters. In this paper a novel activation strategy is proposed for Di- electric Elastomer actuators which is based on a driving circuit derived from the flyback con- verter topology. A closed-loop position controller for Dielectric Elastomer actuators, which employs this driving circuit is also presented. Experimental results are reported which show that the proposed driving circuit outperforms the traditional strategies in terms of fast open- loop actuator activation and good closed-loop actuator controllability.\n
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\n \n\n \n \n Berselli, G.; Vertechy, R.; Vassura, G.; and Castelli, V. P.\n\n\n \n \n \n \n \n Design of a linear dielectric elastomer actuator of conical shape with quasi-constant available thrust.\n \n \n \n \n\n\n \n\n\n\n In 2009 International Conference on Intelligent Engineering Systems, pages 89–94, apr 2009. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"DesignPaper\n  \n \n \n \"Design paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n\n\n\n
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@InProceedings{Berselli2009,\r\n  author    = {Berselli, Giovanni and Vertechy, Rocco and Vassura, Gabriele and Castelli, Vincenzo Parenti},\r\n  title     = {{Design of a linear dielectric elastomer actuator of conical shape with quasi-constant available thrust}},\r\n  booktitle = {2009 International Conference on Intelligent Engineering Systems},\r\n  year      = {2009},\r\n  pages     = {89--94},\r\n  month     = {apr},\r\n  publisher = {IEEE},\r\n  abstract  = {A novel design for a Dielectric Elastomer (DE) actuator is presented. The actuator is obtained by coupling a conically shaped DE film with a compliant mechanism. The compliant mechanism is designed to suitably modify the force generated by the elastomer film. The resulting actuator provides a nearly constant force along the entire actuator stroke when the DE film is activated and quickly returns to an initial rest position when the DE film is deactivated. The electromechanical properties of the DE film are measured experimentally. The sizing of the compliant mechanism is obtained through a pseudo-rigid-body model and subsequently verified through finite element analysis. Simulations show that the designed actuator works as desired. Possible applications of this kind of actuator are MRI compatible devices, haptic devices and Braille cells. {\\textcopyright}2009 IEEE.},\r\n  doi       = {10.1109/INES.2009.4924743},\r\n  isbn      = {978-1-4244-4111-2},\r\n  keywords  = {Compliant mechanisms,Dielectric elastomer actuators},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://ieeexplore.ieee.org/document/4924743/},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2009_1.pdf},\r\n}\r\n\r\n
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\n A novel design for a Dielectric Elastomer (DE) actuator is presented. The actuator is obtained by coupling a conically shaped DE film with a compliant mechanism. The compliant mechanism is designed to suitably modify the force generated by the elastomer film. The resulting actuator provides a nearly constant force along the entire actuator stroke when the DE film is activated and quickly returns to an initial rest position when the DE film is deactivated. The electromechanical properties of the DE film are measured experimentally. The sizing of the compliant mechanism is obtained through a pseudo-rigid-body model and subsequently verified through finite element analysis. Simulations show that the designed actuator works as desired. Possible applications of this kind of actuator are MRI compatible devices, haptic devices and Braille cells. ©2009 IEEE.\n
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\n \n\n \n \n Berselli, G.; Vertechy, R.; Vassura, G.; and Castelli, V. P.\n\n\n \n \n \n \n \n Experimental evaluation of optimal conically-shaped dielectric elastomer linear actuators.\n \n \n \n \n\n\n \n\n\n\n In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pages 2910–2915, 2009. \n \n\n\n\n
\n\n\n\n \n \n \"Experimental paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n\n\n\n
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@InProceedings{Berselli2009a,\r\n  author    = {Berselli, Giovanni and Vertechy, Rocco and Vassura, Gabriele and Castelli, Vincenzo Parenti},\r\n  title     = {{Experimental evaluation of optimal conically-shaped dielectric elastomer linear actuators}},\r\n  booktitle = {2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009},\r\n  year      = {2009},\r\n  pages     = {2910--2915},\r\n  abstract  = {A conically shaped Dielectric Elastomer (DE) linear actuator is presented which is obtained by coupling a DE film with a compliant mechanism. The compliant mechanism is designed, by means of a pseudo-rigid-body model, to suitably modify the force generated by the elastomer film. The resulting actuator provides a nearly constant force along the entire actuator stroke when the DE film is activated and returns to an initial rest position when the DE film is deactivated. Experimental activity fully validates the proposed concept. Possible applications of this kind of actuator are Braille cells, light weight robots and haptic devices. {\\textcopyright} 2009 IEEE.},\r\n  doi       = {10.1109/IROS.2009.5354605},\r\n  isbn      = {9781424438044},\r\n  keywords  = {Compliant mechanisms,Dielectric elastomer actuators},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2009_2.pdf},\r\n}\r\n\r\n
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\n A conically shaped Dielectric Elastomer (DE) linear actuator is presented which is obtained by coupling a DE film with a compliant mechanism. The compliant mechanism is designed, by means of a pseudo-rigid-body model, to suitably modify the force generated by the elastomer film. The resulting actuator provides a nearly constant force along the entire actuator stroke when the DE film is activated and returns to an initial rest position when the DE film is deactivated. Experimental activity fully validates the proposed concept. Possible applications of this kind of actuator are Braille cells, light weight robots and haptic devices. © 2009 IEEE.\n
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\n \n\n \n \n Babič, M.; Vertechy, R.; Berselli, G.; and Parenti-Castelli, V.\n\n\n \n \n \n \n \n Design Of A Custom Electronic Driver For Dielectric Elastomer Actuators.\n \n \n \n \n\n\n \n\n\n\n In IS 2009, International Conference of Information Society, Ljubljana, Slovenia., pages 12–16, 2009. \n \n\n\n\n
\n\n\n\n \n \n \"Design paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Babic2009,\r\n  author    = {Babi{\\v{c}}, Mitja and Vertechy, Rocco and Berselli, Giovanni and Parenti-Castelli, Vincenzo},\r\n  title     = {Design Of A Custom Electronic Driver For Dielectric Elastomer Actuators},\r\n  booktitle = {IS 2009, International Conference of Information Society, Ljubljana, Slovenia.},\r\n  year      = {2009},\r\n  pages     = {12--16},\r\n  abstract  = {Actuators based on Dielectric Elastomers are a promising technology in robotic and mechatronic applications. The overall actuator performances are influenced by the non-linear and highly coupled electrical and mechanical behavior of the employed materials. To date, the practical electro-mechanical response and controllability of actuators based on Dielectric Elastomers are limited by the inadequacy of the employed driving circuits, which are based on voltage-regulated converters. In this paper a novel activation strategy is proposed for Dielectric Elastomer actuators, which is based on a custom electronic driver derived from the flyback transformer topology. The flyback converter design is based on the specifications given by the Dielectric Elastomer actuator mechanical design and the desired actuator response. 1},\r\n  isbn      = {9789612640101},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2009_S2.pdf},\r\n}\r\n\r\n
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\n Actuators based on Dielectric Elastomers are a promising technology in robotic and mechatronic applications. The overall actuator performances are influenced by the non-linear and highly coupled electrical and mechanical behavior of the employed materials. To date, the practical electro-mechanical response and controllability of actuators based on Dielectric Elastomers are limited by the inadequacy of the employed driving circuits, which are based on voltage-regulated converters. In this paper a novel activation strategy is proposed for Dielectric Elastomer actuators, which is based on a custom electronic driver derived from the flyback transformer topology. The flyback converter design is based on the specifications given by the Dielectric Elastomer actuator mechanical design and the desired actuator response. 1\n
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\n \n\n \n \n Berselli, G.; and Vassura, G.\n\n\n \n \n \n \n \n Differentiated layer design to modify the compliance of soft pads for robotic limbs.\n \n \n \n \n\n\n \n\n\n\n In 2009 IEEE International Conference on Robotics and Automation, pages 1285–1290, may 2009. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"DifferentiatedPaper\n  \n \n \n \"Differentiated paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
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@InProceedings{Berselli2009b,\r\n  author    = {Berselli, Giovanni and Vassura, Gabriele},\r\n  title     = {{Differentiated layer design to modify the compliance of soft pads for robotic limbs}},\r\n  booktitle = {2009 IEEE International Conference on Robotics and Automation},\r\n  year      = {2009},\r\n  pages     = {1285--1290},\r\n  month     = {may},\r\n  publisher = {IEEE},\r\n  abstract  = {Most of robotic soft pads studied so far were made with a thick layer of homogeneous material shaped around a rigid core; their behavior has been widely investigated in the literature, mainly under compressive contact load, showing typical non-linear relationship between contact deformation and applied load (the so called power law). This paper proposes differentiated layer design, that is the adoption of a single elastic material, dividing the overall thickness of the pad into layers with different structural design (e.g. a continuous skin layer coupled with an internal layer with voids). The purpose is to modify the actual pad compliance and the resulting power law; in particular, given the material and the allowable pad thickness, to increase the compliance with respect to a non structured pad. Some possible internal layer structures are described, compatible with rapid prototyping manufacturing. Their compressive behaviors are tested and comparatively evaluated showing that the concept can work and be exploited for useful application.{\\textcopyright} 2009 IEEE.},\r\n  doi       = {10.1109/ROBOT.2009.5152377},\r\n  isbn      = {978-1-4244-2788-8},\r\n  issn      = {10504729},\r\n  keywords  = {Experimental analysis,Fingertip design,Robotic hands,Soft fingers},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://ieeexplore.ieee.org/document/5152377/},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2009_3.pdf},\r\n}\r\n\r\n
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\n Most of robotic soft pads studied so far were made with a thick layer of homogeneous material shaped around a rigid core; their behavior has been widely investigated in the literature, mainly under compressive contact load, showing typical non-linear relationship between contact deformation and applied load (the so called power law). This paper proposes differentiated layer design, that is the adoption of a single elastic material, dividing the overall thickness of the pad into layers with different structural design (e.g. a continuous skin layer coupled with an internal layer with voids). The purpose is to modify the actual pad compliance and the resulting power law; in particular, given the material and the allowable pad thickness, to increase the compliance with respect to a non structured pad. Some possible internal layer structures are described, compatible with rapid prototyping manufacturing. Their compressive behaviors are tested and comparatively evaluated showing that the concept can work and be exploited for useful application.© 2009 IEEE.\n
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\n \n\n \n \n Piccinini, M.; Berselli, G.; Zucchelli, A.; and Vassura, G.\n\n\n \n \n \n \n \n Predicting the compliance of soft fingertips with differentiated layer design: A numerical and experimental investigation.\n \n \n \n \n\n\n \n\n\n\n In 2009 International Conference on Advanced Robotics, ICAR 2009, 2009. \n \n\n\n\n
\n\n\n\n \n \n \"Predicting paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n\n\n\n
\n 
@InProceedings{Piccinini2009,\r\n  author    = {Piccinini, M. and Berselli, G. and Zucchelli, A. and Vassura, G.},\r\n  title     = {{Predicting the compliance of soft fingertips with differentiated layer design: A numerical and experimental investigation}},\r\n  booktitle = {2009 International Conference on Advanced Robotics, ICAR 2009},\r\n  year      = {2009},\r\n  abstract  = {This paper describes the nonlinear Finite Elements Analysis (FEA) of soft fingertips for robotic hands in contact conditions.The purpose is to test the reliability of FEA when designing fingertips with differentiated layer design, that is the adoption of a single elastic material, dividing the overall thickness of the pad into layers with different structural design (e.g.a continuous skin layer coupled with an internal layer with voids).The pads are shaped around a rigid core and their behavior is investigated under compressive contact loads.The applicability of various nonlinear hyperelastic constitutive models for predicting the pad behavior is explored under the hypothesis of large deflections.Two materials have been tested whose mechanical properties are determined experimentally.One of these materials can be used in rapid prototyping printers and its properties are presented for the first time.Experimental activity fully validates the proposed FEA models concerning homogeneous pads.At last two different and innovative pad geometries are proposed showing that FEA confirms to be a powerful tool for predicting the compliance of soft fingertips if the right hypothesis and simplifying assumptions are made.},\r\n  isbn      = {9781424448555},\r\n  keywords  = {Contact mechanics,FE analysis,Robotic hand,Soft fingertip},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2009_4.pdf},\r\n}\r\n\r\n
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\n This paper describes the nonlinear Finite Elements Analysis (FEA) of soft fingertips for robotic hands in contact conditions.The purpose is to test the reliability of FEA when designing fingertips with differentiated layer design, that is the adoption of a single elastic material, dividing the overall thickness of the pad into layers with different structural design (e.g.a continuous skin layer coupled with an internal layer with voids).The pads are shaped around a rigid core and their behavior is investigated under compressive contact loads.The applicability of various nonlinear hyperelastic constitutive models for predicting the pad behavior is explored under the hypothesis of large deflections.Two materials have been tested whose mechanical properties are determined experimentally.One of these materials can be used in rapid prototyping printers and its properties are presented for the first time.Experimental activity fully validates the proposed FEA models concerning homogeneous pads.At last two different and innovative pad geometries are proposed showing that FEA confirms to be a powerful tool for predicting the compliance of soft fingertips if the right hypothesis and simplifying assumptions are made.\n
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\n \n\n \n \n Berselli, G.; Borghesan, G.; Brandi, M.; Melchiorri, C.; Natale, C.; Palli, G.; Pirozzi, S.; and Vassura, G.\n\n\n \n \n \n \n \n Integrated Mechatronic Design for a New Generation of Robotic Hands.\n \n \n \n \n\n\n \n\n\n\n In IFAC Proceedings Volumes, volume 42, pages 8–13, 2009. \n \n\n\n\n
\n\n\n\n \n \n \"IntegratedPaper\n  \n \n \n \"Integrated paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
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@InProceedings{Berselli2009c,\r\n  author    = {Berselli, G. and Borghesan, G. and Brandi, M. and Melchiorri, C. and Natale, C. and Palli, G. and Pirozzi, S. and Vassura, G.},\r\n  title     = {{Integrated Mechatronic Design for a New Generation of Robotic Hands}},\r\n  booktitle = {IFAC Proceedings Volumes},\r\n  year      = {2009},\r\n  volume    = {42},\r\n  number    = {16},\r\n  pages     = {8--13},\r\n  abstract  = {In this paper, an overall description of the design of a robotic hand is discussed, with particular attention to the required sensory subsystem, its integration within the mechanical structure of the hand and the required control architecture. Different solutions for the joint configuration and the structure of the tendon network adopted for the transmission system are present together with three types of sensors applied on the finger and on the actuators. The integrated design of the hand finger and the sensors is reported and the motivations leading to this particular implementation are thoroughly addressed, taking into account both the mechanical constraints and the control requirements.},\r\n  doi       = {10.3182/20090909-4-JP-2010.00004},\r\n  issn      = {14746670},\r\n  keywords  = {Robot control,Robotic design,Robotic hands,Sensor systems,Sensors integration},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {https://linkinghub.elsevier.com/retrieve/pii/S1474667015306042},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2009_5.pdf},\r\n}\r\n\r\n
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\n In this paper, an overall description of the design of a robotic hand is discussed, with particular attention to the required sensory subsystem, its integration within the mechanical structure of the hand and the required control architecture. Different solutions for the joint configuration and the structure of the tendon network adopted for the transmission system are present together with three types of sensors applied on the finger and on the actuators. The integrated design of the hand finger and the sensors is reported and the motivations leading to this particular implementation are thoroughly addressed, taking into account both the mechanical constraints and the control requirements.\n
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\n \n\n \n \n Vertechy, R.; Berselli, G.; Castelli, V. P.; and Vassura, G.\n\n\n \n \n \n \n \n A New Procedure for the Optimization of a Dielectric Elastomer Actuator.\n \n \n \n \n\n\n \n\n\n\n In Computational Kinematics, pages 299–306, Berlin, Heidelberg, 2009. Springer Berlin Heidelberg\n \n\n\n\n
\n\n\n\n \n \n \"APaper\n  \n \n \n \"A paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Vertechy2009a,\r\n  author    = {Vertechy, Rocco and Berselli, Giovanni and Castelli, Vincenzo Parenti and Vassura, Gabriele},\r\n  title     = {{A New Procedure for the Optimization of a Dielectric Elastomer Actuator}},\r\n  booktitle = {Computational Kinematics},\r\n  year      = {2009},\r\n  pages     = {299--306},\r\n  address   = {Berlin, Heidelberg},\r\n  publisher = {Springer Berlin Heidelberg},\r\n  doi       = {10.1007/978-3-642-01947-0_37},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://link.springer.com/10.1007/978-3-642-01947-0{\\_}37},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2019_1.pdf},\r\n}\r\n\r\n
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\n \n\n \n \n Babic, M.; Vertechy, R.; Berselli, G.; and Lenarcic, J.\n\n\n \n \n \n \n \n Control of multilayer dielectric elastomer actuators.\n \n \n \n \n\n\n \n\n\n\n In IEEE ERK 2009, International Electrotechnical and Computer Science Conference, pages 221–224, 2009. \n \n\n\n\n
\n\n\n\n \n \n \"Control paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Babic2009a,\r\n  author    = {Babic, Mitja and Vertechy, Rocco and Berselli, Giovanni and Lenarcic, Jadran},\r\n  title     = {{Control of multilayer dielectric elastomer actuators}},\r\n  booktitle = {IEEE ERK 2009, International Electrotechnical and Computer Science Conference},\r\n  year      = {2009},\r\n  number    = {May},\r\n  pages     = {221--224},\r\n  abstract  = {Actuators based on Dielectric Elastomers (DE) are a promising technology for robotic and mechatronic applications. In order to increase the actuator available thrust, multiple layers of elastomer films can be connected in parallel to a single frame to form a Multilayer DE Actuator (MDEA). In this paper a novel control strategy is proposed for regulating the MDEA's position. The control algorithm is composed of a hybrid combination of artificial neural networks and a switching self-tuning adaptive PID controller.},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2009_S3.pdf},\r\n}\r\n\r\n
\n
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\n Actuators based on Dielectric Elastomers (DE) are a promising technology for robotic and mechatronic applications. In order to increase the actuator available thrust, multiple layers of elastomer films can be connected in parallel to a single frame to form a Multilayer DE Actuator (MDEA). In this paper a novel control strategy is proposed for regulating the MDEA's position. The control algorithm is composed of a hybrid combination of artificial neural networks and a switching self-tuning adaptive PID controller.\n
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\n \n\n \n \n Berselli, G.; Vertechy, R.; Vassura, G.; and Parenti Castelli, V.\n\n\n \n \n \n \n \n Design of a Single-Acting Constant-Force Actuator Based on Dielectric Elastomers.\n \n \n \n \n\n\n \n\n\n\n In ASME IDETC Int. Design Engineering Technical Conferences: 32nd Mechanisms and Robotics Conference, Parts A and B, pages 313–321, 2008. ASME\n \n\n\n\n
\n\n\n\n \n \n \"DesignPaper\n  \n \n \n \"Design paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Berselli2008,\r\n  author    = {Berselli, Giovanni and Vertechy, Rocco and Vassura, Gabriele and {Parenti Castelli}, Vincenzo},\r\n  title     = {{Design of a Single-Acting Constant-Force Actuator Based on Dielectric Elastomers}},\r\n  booktitle = {ASME IDETC Int. Design Engineering Technical Conferences: 32nd Mechanisms and Robotics Conference, Parts A and B},\r\n  year      = {2008},\r\n  pages     = {313--321},\r\n  publisher = {ASME},\r\n  abstract  = {The interest in actuators based on dielectric elastomer films as a promising technology in robotic and mechatronic applications is increasing. The overall actuator performances are influenced by the design of both the active film and the film supporting frame. This paper presents a single-acting actuator which is ca- pable ofsupplying a constant force over a given range ofmotion. The actuator is obtained by coupling a rectangular film of sili- cone dielectric elastomer with a monolithic frame designed to suitably modify the force generated by the dielectric elastomer film. The frame is a fully compliant mechanism whose main structural parameters are calculated using a pseudo-rigid-body model and then verified by finite element analysis. Simulations show promising performance ofthe proposed actuator. 1},\r\n  doi       = {10.1115/DETC2008-49836},\r\n  isbn      = {978-0-7918-4326-0},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1627461},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2008_1.pdf},\r\n}\r\n\r\n
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\n The interest in actuators based on dielectric elastomer films as a promising technology in robotic and mechatronic applications is increasing. The overall actuator performances are influenced by the design of both the active film and the film supporting frame. This paper presents a single-acting actuator which is ca- pable ofsupplying a constant force over a given range ofmotion. The actuator is obtained by coupling a rectangular film of sili- cone dielectric elastomer with a monolithic frame designed to suitably modify the force generated by the dielectric elastomer film. The frame is a fully compliant mechanism whose main structural parameters are calculated using a pseudo-rigid-body model and then verified by finite element analysis. Simulations show promising performance ofthe proposed actuator. 1\n
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\n \n\n \n \n Berselli, G.; and Stecki, J. S.\n\n\n \n \n \n \n \n Kinematic Design and Bond Graph Modeling of an Inertia-Type Infinitely Variable Transmission.\n \n \n \n \n\n\n \n\n\n\n In ASME IDETC Int. Design Engineering Technical Conferences: 13th Design for Manufacturability and the Lifecycle Conference; 5th Symposium on International Design and Design Education; 10th International Conference on Advanced Vehicle and Tire Technologies, pages 799–808, 2008. ASME\n \n\n\n\n
\n\n\n\n \n \n \"KinematicPaper\n  \n \n \n \"Kinematic paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Berselli2008a,\r\n  author    = {Berselli, Giovanni and Stecki, Jacek S.},\r\n  title     = {{Kinematic Design and Bond Graph Modeling of an Inertia-Type Infinitely Variable Transmission}},\r\n  booktitle = {ASME IDETC Int. Design Engineering Technical Conferences: 13th Design for Manufacturability and the Lifecycle Conference; 5th Symposium on International Design and Design Education; 10th International Conference on Advanced Vehicle and Tire Technologies},\r\n  year      = {2008},\r\n  pages     = {799--808},\r\n  publisher = {ASME},\r\n  abstract  = {A fully mechanical infinitely variable transmission (IVT) based on the use of an oscillating inertia is described. The system in- cludes a four-bar linkage mechanism, an epicyclic gear train and a pair of one-way clutches. The proposed IVT can be used in place of both gear-box and clutch in self-propelled vehicles. A basic model is used for a first attempt sizing of the transmission kinematic parameters. A more accurate model, achieved using Bond Graphs, is used to investigate the dynamic effect of iner- tias, one-way clutch compliance, and minor design changes in the kinematic parameters. Finally, simulations compare the be- havior of a car fitted with a manual gear-box and the same car fitted with the proposed IVT.},\r\n  doi       = {10.1115/DETC2008-49875},\r\n  isbn      = {978-0-7918-4329-1},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1628983},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2008_2.pdf},\r\n}\r\n\r\n
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\n A fully mechanical infinitely variable transmission (IVT) based on the use of an oscillating inertia is described. The system in- cludes a four-bar linkage mechanism, an epicyclic gear train and a pair of one-way clutches. The proposed IVT can be used in place of both gear-box and clutch in self-propelled vehicles. A basic model is used for a first attempt sizing of the transmission kinematic parameters. A more accurate model, achieved using Bond Graphs, is used to investigate the dynamic effect of iner- tias, one-way clutch compliance, and minor design changes in the kinematic parameters. Finally, simulations compare the be- havior of a car fitted with a manual gear-box and the same car fitted with the proposed IVT.\n
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\n \n\n \n \n Babic, M.; Vertechy, R.; Berselli, G.; Parenti-Castelli, V.; and Lenarčič, J.\n\n\n \n \n \n \n \n Electroelastic Polymer Actuators.\n \n \n \n \n\n\n \n\n\n\n In IEEE ERK 2008, International Electrotechnical and Computer Science Conference, volume 2, pages 2–5, 2008. \n \n\n\n\n
\n\n\n\n \n \n \"Electroelastic paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Babic2008,\r\n  author    = {Babic, Mitja and Vertechy, Rocco and Berselli, Giovanni and Parenti-Castelli, Vincenzo and Lenar{\\v{c}}i{\\v{c}}, Jadran},\r\n  title     = {{Electroelastic Polymer Actuators}},\r\n  booktitle = {IEEE ERK 2008, International Electrotechnical and Computer Science Conference},\r\n  year      = {2008},\r\n  volume    = {2},\r\n  pages     = {2--5},\r\n  abstract  = {In the last decade, a number of multifunctional polymers have been discovered and developed [1,2]. Among them, the electro-sensitive elastomers (ESE) are solid elastic dielectrics which generate forces and undergo large deformations in response to applied large electric fields. Due to the intrinsic electromechanical coupling, viscoelasticity, small specific weight and low-cost, ESE are candidate materials for the development of affordable solid-state muscle-like actuators featuring large power-to-weight ratios, small mechanical impedance, good (force and position) accuracy at low speeds, large resilience and high damage resistance. Therefore, ESE-based actuators provide huge potentialities for devising robots for advanced applications [2]. The goal of the research is to build and test an artificial sensorimotor unit and system controller to be used for the development of highly adaptive cognitive machines. The artificial muscle will consist in a one degree-of-freedom actuator array made up of a large number of ESE films connected to a parallel compliant mechanism. The artificial sensorimotor system will feature a digital controller implementing a recruitment strategy via artificial neural networks and a firing rate coding strategy via a switching PID controller. In this paper, we will present some engineering design solutions, some control approaches and a computer simulation on developing ESE materials as actuators. 1},\r\n  type      = {(E) Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2008_S1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n In the last decade, a number of multifunctional polymers have been discovered and developed [1,2]. Among them, the electro-sensitive elastomers (ESE) are solid elastic dielectrics which generate forces and undergo large deformations in response to applied large electric fields. Due to the intrinsic electromechanical coupling, viscoelasticity, small specific weight and low-cost, ESE are candidate materials for the development of affordable solid-state muscle-like actuators featuring large power-to-weight ratios, small mechanical impedance, good (force and position) accuracy at low speeds, large resilience and high damage resistance. Therefore, ESE-based actuators provide huge potentialities for devising robots for advanced applications [2]. The goal of the research is to build and test an artificial sensorimotor unit and system controller to be used for the development of highly adaptive cognitive machines. The artificial muscle will consist in a one degree-of-freedom actuator array made up of a large number of ESE films connected to a parallel compliant mechanism. The artificial sensorimotor system will feature a digital controller implementing a recruitment strategy via artificial neural networks and a firing rate coding strategy via a switching PID controller. In this paper, we will present some engineering design solutions, some control approaches and a computer simulation on developing ESE materials as actuators. 1\n
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\n \n\n \n \n Berselli, G.; Falconi, R.; Vassura, G.; and Modugno, G. C.\n\n\n \n \n \n \n \n Task Based Kinematic Design of a Serial Robot for the Treatment of Vestibular Lithiasis.\n \n \n \n \n\n\n \n\n\n\n In 2007 IEEE 10th International Conference on Rehabilitation Robotics, volume 00, pages 138–144, jun 2007. IEEE\n \n\n\n\n
\n\n\n\n \n \n \"TaskPaper\n  \n \n \n \"Task paper\n  \n \n\n \n \n doi\n  \n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{Berselli2007,\r\n  author    = {Berselli, Giovanni and Falconi, Riccardo and Vassura, Gabriele and Modugno, Giovanni Carlo},\r\n  title     = {{Task Based Kinematic Design of a Serial Robot for the Treatment of Vestibular Lithiasis}},\r\n  booktitle = {2007 IEEE 10th International Conference on Rehabilitation Robotics},\r\n  year      = {2007},\r\n  volume    = {00},\r\n  number    = {c},\r\n  pages     = {138--144},\r\n  month     = {jun},\r\n  publisher = {IEEE},\r\n  abstract  = {Benign Paroxymal Positional Vertigo and variants, collectively called ”vestibular lithiasis”, designate a common disorder caused by a malfunction of the inner ear. These pathologies are connected with the presence of dense particles within the semicircular canals which interfere with the sensing capabilities of angular velocity in the patient, causing nystagmus and vertigo. Some of these conditions can be treated by repositioning maneuvers physically done by the doctor that moves the head of the patient along different poses in space. Despite the fact that the treatment shows a success rate up to 80-90{\\%}, the failure rate remains highly significant and it is proven that precision repeatability and unlimited 360◦ manoeuvrability can improve diagnostic and treatment potential for overcoming this kind of vertigo. In this paper the kinematic design of a serial robot that will execute repositioning maneuvers automatically is performed through a simplified task based kinematic design technique. The aim of the method is to find the minimum number of degrees of freedom to carry out a set of given tasks as well as the manipulator's topology and the Denavit-Hartenberg parameters. The proposed procedure firstly minimizes the number of degrees of freedom only and then a cost function connected to the total link length. Index},\r\n  doi       = {10.1109/ICORR.2007.4428419},\r\n  isbn      = {978-1-4244-1319-5},\r\n  type      = {(E) Conference Proceedings},\r\n  url       = {http://ieeexplore.ieee.org/document/4428419/},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/C2007_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Benign Paroxymal Positional Vertigo and variants, collectively called ”vestibular lithiasis”, designate a common disorder caused by a malfunction of the inner ear. These pathologies are connected with the presence of dense particles within the semicircular canals which interfere with the sensing capabilities of angular velocity in the patient, causing nystagmus and vertigo. Some of these conditions can be treated by repositioning maneuvers physically done by the doctor that moves the head of the patient along different poses in space. Despite the fact that the treatment shows a success rate up to 80-90%, the failure rate remains highly significant and it is proven that precision repeatability and unlimited 360◦ manoeuvrability can improve diagnostic and treatment potential for overcoming this kind of vertigo. In this paper the kinematic design of a serial robot that will execute repositioning maneuvers automatically is performed through a simplified task based kinematic design technique. The aim of the method is to find the minimum number of degrees of freedom to carry out a set of given tasks as well as the manipulator's topology and the Denavit-Hartenberg parameters. The proposed procedure firstly minimizes the number of degrees of freedom only and then a cost function connected to the total link length. Index\n
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\n
\n  \n (F) National Conference Proceedings\n \n \n (15)\n \n \n
\n
\n \n \n
\n \n\n \n \n Andrisano, A O; Berselli, G; Bigi, G; Gadaleta, M; Pellicciari, M; Peruzzini, M; and Razzoli, R\n\n\n \n \n \n \n \n Prototipazione Virtuale e Simulazione di un Mandrino Cedevole per la Sbavatura Robotizzata di Precisione.\n \n \n \n \n\n\n \n\n\n\n In Proceedings of X Giornata Ettore Funaioli, University of Bologna, Bologna, Italy, pages 99–110, 2016. \n \n\n\n\n
\n\n\n\n \n \n \"Prototipazione paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PI12016,\r\n  author    = {Andrisano, A O and Berselli, G and Bigi, G and Gadaleta, M and Pellicciari, M and Peruzzini, M and Razzoli, R},\r\n  title     = {{Prototipazione Virtuale e Simulazione di un Mandrino Cedevole per la Sbavatura Robotizzata di Precisione}},\r\n  booktitle = {Proceedings of X Giornata Ettore Funaioli, University of Bologna, Bologna, Italy},\r\n  year      = {2016},\r\n  pages     = {99--110},\r\n  abstract  = {Allo stato dell'arte corrente, la Sbavatura Robotizzata (SR) {\\`{e}} stata adottata con successo in numerose applicazioni industriali, ma richiede ancora miglioramenti in termini di qualit{\\`{a}} finale. Infatti, l'efficacia di un processo di SR {\\`{e}} altamente influenzata dalla limitata precisione dei movimenti del robot e dalle imprevedibili variazioni di dimensioni e forma delle bave. La cedevolezza dell'utensile risolve parzialmente il problema, nonostante si rendano necessari strumenti dedicati di “engineering design”, allo scopo di identificare quei parametri ottimizzati e quelle strategie di SR che consentano di ottenere la miglior qualit{\\`{a}} e il miglior rapporto costo-efficacia. In questo contesto, il presente lavoro propone un Prototipo Virtuale (PV) di un mandrino pneumatico dotato di cedevolezza intrinseca, adatto a valutare l'efficienza del processo in diversi scenari. Il PV proposto {\\`{e}} stato creato integrando un modello multi-body della struttura meccanica del mandrino con un modello matematico delle forze di processo. Vengono infine illustrate simulazioni numeriche, atte a prevedere sia le forze di taglio che l'accuratezza della finitura superficiale.},\r\n  isbn      = {978-88-9385-037-7},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2016_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Allo stato dell'arte corrente, la Sbavatura Robotizzata (SR) è stata adottata con successo in numerose applicazioni industriali, ma richiede ancora miglioramenti in termini di qualità finale. Infatti, l'efficacia di un processo di SR è altamente influenzata dalla limitata precisione dei movimenti del robot e dalle imprevedibili variazioni di dimensioni e forma delle bave. La cedevolezza dell'utensile risolve parzialmente il problema, nonostante si rendano necessari strumenti dedicati di “engineering design”, allo scopo di identificare quei parametri ottimizzati e quelle strategie di SR che consentano di ottenere la miglior qualità e il miglior rapporto costo-efficacia. In questo contesto, il presente lavoro propone un Prototipo Virtuale (PV) di un mandrino pneumatico dotato di cedevolezza intrinseca, adatto a valutare l'efficienza del processo in diversi scenari. Il PV proposto è stato creato integrando un modello multi-body della struttura meccanica del mandrino con un modello matematico delle forze di processo. Vengono infine illustrate simulazioni numeriche, atte a prevedere sia le forze di taglio che l'accuratezza della finitura superficiale.\n
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\n \n\n \n \n Andrisano, A O; Oliva, E; Gadaleta, M; Pellicciari, M; and Berselli, G\n\n\n \n \n \n \n \n Metodologia per la determinazione delle perdite energetiche in servo azionamenti per macchine automatiche.\n \n \n \n \n\n\n \n\n\n\n In Proceedings of IX Giornata Ettore Funaioli, University of Bologna, Bologna, Italy, pages 219–230, 2015. \n \n\n\n\n
\n\n\n\n \n \n \"Metodologia paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PI12015,\r\n  author    = {Andrisano, A O and Oliva, E and Gadaleta, M and Pellicciari, M and Berselli, G},\r\n  title     = {{Metodologia per la determinazione delle perdite energetiche in servo azionamenti per macchine automatiche}},\r\n  booktitle = {Proceedings of IX Giornata Ettore Funaioli, University of Bologna, Bologna, Italy},\r\n  year      = {2015},\r\n  pages     = {219--230},\r\n  abstract  = {I servomeccanismi possono essere considerati come la tecnologia chiave per incrementare la flessibilit{\\`{a}} e la ri-configurabilit{\\`{a}} delle moderne macchine automatiche. Sfortunatamente, allo stato dell'arte, questi dispositivi meccatronici sono estremamente flessibili ma energeticamente inefficienti, compromettendo cos{\\`{i}} la sostenibilit{\\`{a}} globale del sistema. Ci{\\`{o}} nonostante, il consumo di energia pu{\\`{o}} essere parzialmente ridotto nel caso in cui l'ottimizzazione energetica venga considerata come un obiettivo di progettazione alla stregua del tasso di produzione globale. Naturalmente, come primo passo verso l'implementazione pratica di qualsiasi criterio di ottimizzazione energetica, l'utente finale deve essere in grado di predire il flusso di potenza nel sistema, comprese le principali fonti di perdite. In questo contesto, questa memoria presenta un modello del comportamento del servomeccanismo. Successivamente, viene discusso un nuovo metodo di identificazione che consente la determinazione dei parametri del modello, attraverso un set di misure sperimentali non invasive. Il metodo viene infine validato confrontando flussi di potenza previsti ed effettivi in un semplice sistema meccatronico, composto da un manovellismo di spinta direttamente connesso ad un motore sincrono a magneti permanenti.},\r\n  isbn      = {978-88-7488-965-5},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2015_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n I servomeccanismi possono essere considerati come la tecnologia chiave per incrementare la flessibilità e la ri-configurabilità delle moderne macchine automatiche. Sfortunatamente, allo stato dell'arte, questi dispositivi meccatronici sono estremamente flessibili ma energeticamente inefficienti, compromettendo così la sostenibilità globale del sistema. Ciò nonostante, il consumo di energia può essere parzialmente ridotto nel caso in cui l'ottimizzazione energetica venga considerata come un obiettivo di progettazione alla stregua del tasso di produzione globale. Naturalmente, come primo passo verso l'implementazione pratica di qualsiasi criterio di ottimizzazione energetica, l'utente finale deve essere in grado di predire il flusso di potenza nel sistema, comprese le principali fonti di perdite. In questo contesto, questa memoria presenta un modello del comportamento del servomeccanismo. Successivamente, viene discusso un nuovo metodo di identificazione che consente la determinazione dei parametri del modello, attraverso un set di misure sperimentali non invasive. Il metodo viene infine validato confrontando flussi di potenza previsti ed effettivi in un semplice sistema meccatronico, composto da un manovellismo di spinta direttamente connesso ad un motore sincrono a magneti permanenti.\n
\n\n\n
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\n \n\n \n \n Andrisano, A O; Balugani, F; Berselli, G; Gadaleta, M; and Pellicciari, M\n\n\n \n \n \n \n \n Progettazione di traiettorie energeticamente efficienti in servomeccanismi per macchine automatiche.\n \n \n \n \n\n\n \n\n\n\n In Proceedings of VIII Giornata Ettore Funaioli, University of Bologna, Bologna, Italy, pages 27–36, 2014. \n \n\n\n\n
\n\n\n\n \n \n \"Progettazione paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PI12014,\r\n  author    = {Andrisano, A O and Balugani, F and Berselli, G and Gadaleta, M and Pellicciari, M},\r\n  title     = {{Progettazione di traiettorie energeticamente efficienti in servomeccanismi per macchine automatiche}},\r\n  booktitle = {Proceedings of VIII Giornata Ettore Funaioli, University of Bologna, Bologna, Italy},\r\n  year      = {2014},\r\n  pages     = {27--36},\r\n  abstract  = {I Servomeccanismi (SM), anche detti camme elettroniche, sono sempre pi`u utilizzati in sostituzione alle tradizionali camme meccaniche, al fine di incrementare la flessibilit`a e la ri-configurabilit`a delle moderne macchine automatiche. Nel tentativo di ottimizzare le prestazioni globali di un SM `e necessario considerare vari fattori, tra cui le dinamiche di meccanismo a membri rigidi, motore elettrico e sistema di controllo, nonch`e dalle leggi di moto richieste. In particolare, le traiettorie punto-punto (PP) vengono progettate sulla base di esigenze di processo e, allo stesso tempo, cercando di minimizzare opportuni indici di costo quali, ad esempio, la richiesta di coppia o potenza. Questa memoria presenta un metodo innovativo per generare traiettorie energeticamente efficienti, utilizzando spline cubiche o del quinto grado. Le funzioni costo sono calcolate utilizzando un prototipo virtuale del sistema che comprende la modellazione di tutti i principali sottosistemi di un SM. I risultati ottenuti sono affiancati a misure di validazione sperimentale ottenute su un prototipo fisico},\r\n  isbn      = {978-88-7488-871-9},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2014_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n I Servomeccanismi (SM), anche detti camme elettroniche, sono sempre pi`u utilizzati in sostituzione alle tradizionali camme meccaniche, al fine di incrementare la flessibilit`a e la ri-configurabilit`a delle moderne macchine automatiche. Nel tentativo di ottimizzare le prestazioni globali di un SM `e necessario considerare vari fattori, tra cui le dinamiche di meccanismo a membri rigidi, motore elettrico e sistema di controllo, nonch`e dalle leggi di moto richieste. In particolare, le traiettorie punto-punto (PP) vengono progettate sulla base di esigenze di processo e, allo stesso tempo, cercando di minimizzare opportuni indici di costo quali, ad esempio, la richiesta di coppia o potenza. Questa memoria presenta un metodo innovativo per generare traiettorie energeticamente efficienti, utilizzando spline cubiche o del quinto grado. Le funzioni costo sono calcolate utilizzando un prototipo virtuale del sistema che comprende la modellazione di tutti i principali sottosistemi di un SM. I risultati ottenuti sono affiancati a misure di validazione sperimentale ottenute su un prototipo fisico\n
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\n \n\n \n \n Andrisano, A O; Ansaloni, M; Berselli, G; Bonazzi, E; Gherardini, F; Leali, F; Pellicciari, M; Pini, F; Renzi, C; and Vergnano, A\n\n\n \n \n \n \n \n Metodo di progettazione di sistemi di fixture per l'assemblaggio di telai automobilistici mediante analisi di sensibilitá.\n \n \n \n \n\n\n \n\n\n\n In Proceedings of VI Giornata Ettore Funaioli, University of Bologna, Bologna, Italy, pages 89–99, 2013. \n \n\n\n\n
\n\n\n\n \n \n \"Metodo paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PI12013,\r\n  author    = {Andrisano, A O and Ansaloni, M and Berselli, G and Bonazzi, E and Gherardini, F and Leali, F and Pellicciari, M and Pini, F and Renzi, C and Vergnano, A},\r\n  title     = {{Metodo di progettazione di sistemi di fixture per l'assemblaggio di telai automobilistici mediante analisi di sensibilit{\\'{a}}}},\r\n  booktitle = {Proceedings of VI Giornata Ettore Funaioli, University of Bologna, Bologna, Italy},\r\n  year      = {2013},\r\n  pages     = {89--99},\r\n  abstract  = {I sistemi di fixture influenzano enormemente i processi di assemblaggio in molti campi della meccanica, in quanto influiscono direttamente sul calcolo della catena di tolleranza. La memoria illustra un metodo di progettazione che permette di comparare e valutare differenti sistemi di fissaggio, considerando sia la posizione che il tipo di locatori. Poich{\\'{e}} i sistemi di fixture possono essere considerati dei sistemi multi-prestazionali, il confronto viene eseguito attraverso l'impiego di opportuni indici di sensibilit{\\`{a}}. Il metodo {\\`{e}} stato applicato ad un caso di studio in ambito automotive relativo alla saldatura in continuo di estrusi in allumino, con l'obiettivo di garantire misure di gap con la minore variabilit{\\`{a}} possibile.},\r\n  isbn      = {978-88-7488-615-9},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2012_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n I sistemi di fixture influenzano enormemente i processi di assemblaggio in molti campi della meccanica, in quanto influiscono direttamente sul calcolo della catena di tolleranza. La memoria illustra un metodo di progettazione che permette di comparare e valutare differenti sistemi di fissaggio, considerando sia la posizione che il tipo di locatori. Poiché i sistemi di fixture possono essere considerati dei sistemi multi-prestazionali, il confronto viene eseguito attraverso l'impiego di opportuni indici di sensibilità. Il metodo è stato applicato ad un caso di studio in ambito automotive relativo alla saldatura in continuo di estrusi in allumino, con l'obiettivo di garantire misure di gap con la minore variabilità possibile.\n
\n\n\n
\n\n\n
\n \n\n \n \n Berselli, G; Vertechy, R; Vassura, G; and Parenti Castelli, V\n\n\n \n \n \n \n \n Modellazione mediante Bond Graphs di Attuatori ad Elastomeri Dielettrici.\n \n \n \n \n\n\n \n\n\n\n In Proceedings of V Giornata Ettore Funaioli, University of Bologna, Bologna, Italy, pages 217–232, 2012. \n \n\n\n\n
\n\n\n\n \n \n \"Modellazione paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PI22011,\r\n  author    = {Berselli, G and Vertechy, R and Vassura, G and {Parenti Castelli}, V},\r\n  title     = {{Modellazione mediante Bond Graphs di Attuatori ad Elastomeri Dielettrici}},\r\n  booktitle = {Proceedings of V Giornata Ettore Funaioli, University of Bologna, Bologna, Italy},\r\n  year      = {2012},\r\n  pages     = {217--232},\r\n  abstract  = {Gli attuatori a forza costante basati su elastomeri dielettrici (ED) si possono teoricamente ottenere accoppiando un film di ED a particolari strutture di supporto cedevoli. Ciononostante, l'ottenimento pratico di un profilo desiderato in forza pu`o diventare un compito gravoso a causa dei fenomeni tempo-dipendenti che influenzano la risposta elettromeccanica dell'ED. In questo contesto, la presente memoria propone un modello iperviscoelastico di attuatori a forza costante aventi geometria rettangolare. Il modello, basato sul formalismo dei Bond Graphs, pu`o essere utilizzato come strumento nella progettazione e/o nel controllo di attuatori che debbano operare nell'intorno di condizioni nominali prestabilite. Il modello `e in grado di prevedere la risposta del sistema a rapide variazioni nella lunghezza dell'attuatore e nel voltaggio di attivazione imposte da un utilizzatore esterno.},\r\n  isbn      = {978-88-7488-516-9},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2011_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Gli attuatori a forza costante basati su elastomeri dielettrici (ED) si possono teoricamente ottenere accoppiando un film di ED a particolari strutture di supporto cedevoli. Ciononostante, l'ottenimento pratico di un profilo desiderato in forza pu`o diventare un compito gravoso a causa dei fenomeni tempo-dipendenti che influenzano la risposta elettromeccanica dell'ED. In questo contesto, la presente memoria propone un modello iperviscoelastico di attuatori a forza costante aventi geometria rettangolare. Il modello, basato sul formalismo dei Bond Graphs, pu`o essere utilizzato come strumento nella progettazione e/o nel controllo di attuatori che debbano operare nell'intorno di condizioni nominali prestabilite. Il modello `e in grado di prevedere la risposta del sistema a rapide variazioni nella lunghezza dell'attuatore e nel voltaggio di attivazione imposte da un utilizzatore esterno.\n
\n\n\n
\n\n\n
\n \n\n \n \n Berselli, G; Vassura, G; and Piccinini, M\n\n\n \n \n \n \n \n Valutazione Della Cedevolezza Selettiva In Giunti Elastici Per Applicazioni Robotiche.\n \n \n \n \n\n\n \n\n\n\n In Proceedings of IV Giornata Ettore Funaioli, University of Bologna, Bologna, Italy, pages 429–442, 2011. \n \n\n\n\n
\n\n\n\n \n \n \"Valutazione paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PI12011,\r\n  author    = {Berselli, G and Vassura, G and Piccinini, M},\r\n  title     = {{Valutazione Della Cedevolezza Selettiva In Giunti Elastici Per Applicazioni Robotiche}},\r\n  booktitle = {Proceedings of IV Giornata Ettore Funaioli, University of Bologna, Bologna, Italy},\r\n  year      = {2011},\r\n  pages     = {429--442},\r\n  abstract  = {Si presenta una metodologia per quantificare le prestazioni di giunti elastici per applicazioni robotiche. In particolare, si considerano le caratteristiche di “cedevolezza selettiva”, riguardanti la capacit`a del giunto di fornire bassi valori di rigidezza lungo una direzione desiderata conservando elevata rigidezza in ogni altra direzione. In quest'ambito, si propongono indici di qualit`a utili a stabilire quale soluzione progettuale soddisfi al meglio i requisiti di una data applicazione. L'approccio `e validato comparando quattro morfologie di giunto adatte a grandi spostamenti. Parole},\r\n  isbn      = {978-88-965720-6-1},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2012_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Si presenta una metodologia per quantificare le prestazioni di giunti elastici per applicazioni robotiche. In particolare, si considerano le caratteristiche di “cedevolezza selettiva”, riguardanti la capacit`a del giunto di fornire bassi valori di rigidezza lungo una direzione desiderata conservando elevata rigidezza in ogni altra direzione. In quest'ambito, si propongono indici di qualit`a utili a stabilire quale soluzione progettuale soddisfi al meglio i requisiti di una data applicazione. L'approccio `e validato comparando quattro morfologie di giunto adatte a grandi spostamenti. Parole\n
\n\n\n
\n\n\n
\n \n\n \n \n Berselli, G; Piccinini, M; Brandi, M; and Vassura, G\n\n\n \n \n \n \n \n Realizzazione Di Una Mano Robotica Antropomorfa Rivestita Di Materiale Soffice.\n \n \n \n \n\n\n \n\n\n\n In Proceedings of III Giornata Ettore Funaioli, University of Bologna, Bologna, Italy, pages 341–353, 2010. \n \n\n\n\n
\n\n\n\n \n \n \"Realizzazione paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PI12010,\r\n  author    = {Berselli, G and Piccinini, M and Brandi, M and Vassura, G},\r\n  title     = {{Realizzazione Di Una Mano Robotica Antropomorfa Rivestita Di Materiale Soffice}},\r\n  booktitle = {Proceedings of III Giornata Ettore Funaioli, University of Bologna, Bologna, Italy},\r\n  year      = {2010},\r\n  pages     = {341--353},\r\n  abstract  = {Si delineano le soluzioni progettuali adottate nella realizzazione di una mano robotica antropomorfa denominata UB-Hand IV. Dapprima si descrivono la struttura del sistema di trasmissione tendineo, la morfologia dei giunti e le tipologie di sensori utilizzate tuttora. In seguito si mostra come l'applicazione di una copertura in materiale soffice, omo- geneo e di spessore compatibile con i vincoli dell'applicazione, generi un comportamento a deformazione piuttosto lontano da quello riscontrabile nei polpastrelli umani. Si propone quindi di modificare la rigidezza complessiva del rivestimento differenziandone la struttura, formata ancora da un unico materiale, ma divisa in uno strato esterno continuo ed uno interno discontinuo, il cui comportamento pu essere progettato mediante opportuno disegno delle cavit in esso distribuite. Risultati numerici e sperimentali confermano l'efficacia della soluzione proposta. Si mostra infine il primo prototipo di mano.},\r\n  isbn      = {978-88-902128-8-8},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2010_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Si delineano le soluzioni progettuali adottate nella realizzazione di una mano robotica antropomorfa denominata UB-Hand IV. Dapprima si descrivono la struttura del sistema di trasmissione tendineo, la morfologia dei giunti e le tipologie di sensori utilizzate tuttora. In seguito si mostra come l'applicazione di una copertura in materiale soffice, omo- geneo e di spessore compatibile con i vincoli dell'applicazione, generi un comportamento a deformazione piuttosto lontano da quello riscontrabile nei polpastrelli umani. Si propone quindi di modificare la rigidezza complessiva del rivestimento differenziandone la struttura, formata ancora da un unico materiale, ma divisa in uno strato esterno continuo ed uno interno discontinuo, il cui comportamento pu essere progettato mediante opportuno disegno delle cavit in esso distribuite. Risultati numerici e sperimentali confermano l'efficacia della soluzione proposta. Si mostra infine il primo prototipo di mano.\n
\n\n\n
\n\n\n
\n \n\n \n \n Berselli, G; Vertechy, R; Vassura, G; and Parenti Castelli, V\n\n\n \n \n \n \n \n Valutazione sperimentale di un attuatore conico ad elastomeri dielettrici.\n \n \n \n \n\n\n \n\n\n\n In Proceedings of III Giornata Ettore Funaioli, University of Bologna, Bologna, Italy, pages 311–324, 2010. \n \n\n\n\n
\n\n\n\n \n \n \"Valutazione paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PI22010,\r\n  author    = {Berselli, G and Vertechy, R and Vassura, G and {Parenti Castelli}, V},\r\n  title     = {{Valutazione sperimentale di un attuatore conico ad elastomeri dielettrici}},\r\n  booktitle = {Proceedings of III Giornata Ettore Funaioli, University of Bologna, Bologna, Italy},\r\n  year      = {2010},\r\n  pages     = {311--324},\r\n  abstract  = {In questa memoria viene presentato un attuatore lineare ad Elastomeri Dielettrici (ED) ottenuto accoppiando un film di ED di forma conica ad un meccanismo compliant (i.e. cedevole). Il meccanismo ”compliant” stato progettato per mezzo di un modello di corpo pseudo-rigido al fine di modificare adeguatamente la forza elastica generata dal film di elastomero. L'attuatore risultante fornisce una spinta utile quasi costante lungo la sua corsa quando il film di ED viene attivato e si riporta ad una posizione iniziale di riposo quando il film di ED viene disattivato. Il concetto proposto validato mediante procedura sperimentale. Possibili applicazioni di questa tipologia di attuatori sono le celle di Braille, i robot leggeri e le interfacce aptiche.},\r\n  isbn      = {978-88-902128-8-8},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2010_3.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n In questa memoria viene presentato un attuatore lineare ad Elastomeri Dielettrici (ED) ottenuto accoppiando un film di ED di forma conica ad un meccanismo compliant (i.e. cedevole). Il meccanismo ”compliant” stato progettato per mezzo di un modello di corpo pseudo-rigido al fine di modificare adeguatamente la forza elastica generata dal film di elastomero. L'attuatore risultante fornisce una spinta utile quasi costante lungo la sua corsa quando il film di ED viene attivato e si riporta ad una posizione iniziale di riposo quando il film di ED viene disattivato. Il concetto proposto validato mediante procedura sperimentale. Possibili applicazioni di questa tipologia di attuatori sono le celle di Braille, i robot leggeri e le interfacce aptiche.\n
\n\n\n
\n\n\n
\n \n\n \n \n Berselli, G; Vertechy, R; Vassura, G; and Parenti Castelli, V\n\n\n \n \n \n \n \n Sviluppo di un attuatore conico ad elastomeri dielettrici: procedura di ottimizzazione e validazione sperimentale.\n \n \n \n \n\n\n \n\n\n\n In AIAS'10, Convegno Nazionale dell' Associazione Italiana per l' Analisi delle Sollecitazioni, Matera, Italy, 2010. \n \n\n\n\n
\n\n\n\n \n \n \"Sviluppo paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PIsub,\r\n  author    = {Berselli, G and Vertechy, R and Vassura, G and {Parenti Castelli}, V},\r\n  title     = {{Sviluppo di un attuatore conico ad elastomeri dielettrici: procedura di ottimizzazione e validazione sperimentale}},\r\n  booktitle = {AIAS'10, Convegno Nazionale dell' Associazione Italiana per l' Analisi delle Sollecitazioni, Matera, Italy},\r\n  year      = {2010},\r\n  abstract  = {In questa memoria viene presentato un attuatore lineare ad Elastomeri Dielettrici (ED) ottenuto accoppiando un film di ED di forma conica ad un meccanismo compliant (i.e. cedevole). La forza generata dal film in funzione della configurazione dell'attuatore e del voltaggio applicato {\\`{e}} determinata per mezzo di un modello matematico semplificato. Il meccanismo compliant {\\`{e}} progettato per mezzo di un modello di corpo pseudo-rigido al fine di modificare adeguatamente la forza elastica generata dell'ED. L'attuatore risultante {\\`{e}} ottimizzato per un funzionamento monodirezionale fornendo una spinta nulla quasi costante lungo un tratto finito di corsa quando il film di ED viene disattivato. Il concetto proposto {\\`{e}} validato mediante analisi agli elementi finiti e procedura sperimentale. Possibili applicazioni di questa tipologia di attuatori sono le celle di Braille, i robot leggeri e le interfacce aptiche.},\r\n  isbn      = {978-88-6093-074-3},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2010_4.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n In questa memoria viene presentato un attuatore lineare ad Elastomeri Dielettrici (ED) ottenuto accoppiando un film di ED di forma conica ad un meccanismo compliant (i.e. cedevole). La forza generata dal film in funzione della configurazione dell'attuatore e del voltaggio applicato è determinata per mezzo di un modello matematico semplificato. Il meccanismo compliant è progettato per mezzo di un modello di corpo pseudo-rigido al fine di modificare adeguatamente la forza elastica generata dell'ED. L'attuatore risultante è ottimizzato per un funzionamento monodirezionale fornendo una spinta nulla quasi costante lungo un tratto finito di corsa quando il film di ED viene disattivato. Il concetto proposto è validato mediante analisi agli elementi finiti e procedura sperimentale. Possibili applicazioni di questa tipologia di attuatori sono le celle di Braille, i robot leggeri e le interfacce aptiche.\n
\n\n\n
\n\n\n
\n \n\n \n \n Palli, G; Berselli, G; Melchiorri, C; and Vassura, G\n\n\n \n \n \n \n \n Progetto e realizzazione di un attuatore a rigidezza variabile per applicazioni robotiche.\n \n \n \n \n\n\n \n\n\n\n In AIAS'10, Convegno Nazionale dell' Associazione Italiana per l' Analisi delle Sollecitazioni, Matera, Italy, 2010. \n \n\n\n\n
\n\n\n\n \n \n \"Progetto paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PIsub2,\r\n  author    = {Palli, G and Berselli, G and Melchiorri, C and Vassura, G},\r\n  title     = {{Progetto e realizzazione di un attuatore a rigidezza variabile per applicazioni robotiche}},\r\n  booktitle = {AIAS'10, Convegno Nazionale dell' Associazione Italiana per l' Analisi delle Sollecitazioni, Matera, Italy},\r\n  year      = {2010},\r\n  abstract  = {Lo sviluppo di robot sicuri ed affidabili per l'interazione fisica uomo-macchina sta cambiando il modo in cui i robot stessi sono progettati, introducendo nuove problematiche tecnologiche. Esempi rilevanti sono l'adozione di ricoprimenti soffici e trasmissioni cedevoli (compliant) o la definizione di leggi di controllo del moto che garantiscono elevata cedevolezza in caso di possibili urti preservando, allo stesso tempo, elevate prestazioni e precisione durante l'esecuzione di compiti. In questo contesto, un interesse crescente {\\`{e}} stato dedicato allo studio di giunti a rigidezza variabile. Questa memoria propone un giunto di tale tipologia basato sull'uso di meccanismi compliant, con l'obiettivo di migliorare la compattezza e la flessibilit{\\`{a}} delle soluzioni meccaniche esistenti. Si introduce una procedura sistematica per la sintesi di un quadrilatero articolato compliant che permette l'implementazione di un profilo di rigidezza desiderato. Infine, si mostra un prototipo del giunto complessivo.},\r\n  isbn      = {978-88-6093-074-3},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2010_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Lo sviluppo di robot sicuri ed affidabili per l'interazione fisica uomo-macchina sta cambiando il modo in cui i robot stessi sono progettati, introducendo nuove problematiche tecnologiche. Esempi rilevanti sono l'adozione di ricoprimenti soffici e trasmissioni cedevoli (compliant) o la definizione di leggi di controllo del moto che garantiscono elevata cedevolezza in caso di possibili urti preservando, allo stesso tempo, elevate prestazioni e precisione durante l'esecuzione di compiti. In questo contesto, un interesse crescente è stato dedicato allo studio di giunti a rigidezza variabile. Questa memoria propone un giunto di tale tipologia basato sull'uso di meccanismi compliant, con l'obiettivo di migliorare la compattezza e la flessibilità delle soluzioni meccaniche esistenti. Si introduce una procedura sistematica per la sintesi di un quadrilatero articolato compliant che permette l'implementazione di un profilo di rigidezza desiderato. Infine, si mostra un prototipo del giunto complessivo.\n
\n\n\n
\n\n\n
\n \n\n \n \n Berselli, G; Vertechy, R; Vassura, G; and Parenti Castelli, V\n\n\n \n \n \n \n \n Metodologia per la sintesi progettuale di attuatori ad elastomeri dielettrici.\n \n \n \n \n\n\n \n\n\n\n In AIAS'09, Convegno Nazionale dell' Associazione Italiana per l' Analisi delle Sollecitazioni, Torino, Italy, pages 1(11), 2009. \n \n\n\n\n
\n\n\n\n \n \n \"Metodologia paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PI32009,\r\n  author    = {Berselli, G and Vertechy, R and Vassura, G and {Parenti Castelli}, V},\r\n  title     = {{Metodologia per la sintesi progettuale di attuatori ad elastomeri dielettrici}},\r\n  booktitle = {AIAS'09, Convegno Nazionale dell' Associazione Italiana per l' Analisi delle Sollecitazioni, Torino, Italy},\r\n  year      = {2009},\r\n  pages     = {1(11)},\r\n  abstract  = {Gli attuatori lineari ad Elastomeri Dielettrici (ED) sono generalmente formati da una o pi{\\`{u}} membrane elastomeriche e da una struttura di supporto flessibile. In questo ambito si propone una metodologia originale che permette di modificare la spinta utile in funzione della lunghezza dell'attuatore ed in particolare di ottenere attuatori a forza costante. La metodologia si compone di due fasi: 1) ottimizzazione dei parametri elettromeccanici della membrana elastomerica 2) progetto della struttura di supporto. Tale struttura {\\`{e}} ideata e progettata come meccanismo compliant (i.e. cedevole) ed utilizza le caratteristiche strutturali di manovellismi di spinta a coppie rotoidali elastiche da accoppiarsi (in configurazioni simmetriche o assialsimmetriche) a membrane di differente morfologia. Si propongono tre tipologie di attuatore ottenute dall'applicazione del metodo proposto a casi di interesse pratico.},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2009_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Gli attuatori lineari ad Elastomeri Dielettrici (ED) sono generalmente formati da una o più membrane elastomeriche e da una struttura di supporto flessibile. In questo ambito si propone una metodologia originale che permette di modificare la spinta utile in funzione della lunghezza dell'attuatore ed in particolare di ottenere attuatori a forza costante. La metodologia si compone di due fasi: 1) ottimizzazione dei parametri elettromeccanici della membrana elastomerica 2) progetto della struttura di supporto. Tale struttura è ideata e progettata come meccanismo compliant (i.e. cedevole) ed utilizza le caratteristiche strutturali di manovellismi di spinta a coppie rotoidali elastiche da accoppiarsi (in configurazioni simmetriche o assialsimmetriche) a membrane di differente morfologia. Si propongono tre tipologie di attuatore ottenute dall'applicazione del metodo proposto a casi di interesse pratico.\n
\n\n\n
\n\n\n
\n \n\n \n \n Piccinini, M; Berselli, G; and Vassura, G\n\n\n \n \n \n \n \n Progettazione del comportamento a deformazione di rivestimenti soffici per organi robotici mediante strutturazione diversificata degli strati.\n \n \n \n \n\n\n \n\n\n\n In AIAS'09, Convegno Nazionale dell' Associazione Italiana per l' Analisi delle Sollecitazioni, Torino, Italy, pages 17(14), 2009. \n \n\n\n\n
\n\n\n\n \n \n \"Progettazione paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PI42009,\r\n  author    = {Piccinini, M and Berselli, G and Vassura, G},\r\n  title     = {{Progettazione del comportamento a deformazione di rivestimenti soffici per organi robotici mediante strutturazione diversificata degli strati}},\r\n  booktitle = {AIAS'09, Convegno Nazionale dell' Associazione Italiana per l' Analisi delle Sollecitazioni, Torino, Italy},\r\n  year      = {2009},\r\n  pages     = {17(14)},\r\n  abstract  = {L'applicazione su organi robotici rigidi di rivestimenti in materiale soffice, omogenei e di piccolo spessore, genera un comportamento a deformazione piuttosto lontano da quello riscontrabile in analoghi organi biologici (es. polpastrelli di una mano). In questa memoria si propone di modificare la rigidezza complessiva del rivestimento differenziandone la struttura, formata ancora da un unico materiale, ma divisa in uno strato esterno continuo ed uno interno discontinuo, il cui comportamento pu{\\`{o}} essere progettato mediante opportuno disegno delle cavit{\\`{a}} interne in esso distribuite. Accanto ad una descrizione delle morfologie proposte, vengono presentati obiettivi, metodologia e risultati di una analisi combinata, volta alla validazione del concetto attraverso verifica sperimentale ed analisi agli elementi finiti (FEM). Il materiale iperelastico adottato {\\`{e}} compatibile con l'applicazione di tecniche di Prototipazione Rapida. I risultati ottenuti confermano l'efficacia della soluzione nel generare un comportamento molto simile a quello dei modelli biologici di riferimento.},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2009_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n L'applicazione su organi robotici rigidi di rivestimenti in materiale soffice, omogenei e di piccolo spessore, genera un comportamento a deformazione piuttosto lontano da quello riscontrabile in analoghi organi biologici (es. polpastrelli di una mano). In questa memoria si propone di modificare la rigidezza complessiva del rivestimento differenziandone la struttura, formata ancora da un unico materiale, ma divisa in uno strato esterno continuo ed uno interno discontinuo, il cui comportamento può essere progettato mediante opportuno disegno delle cavità interne in esso distribuite. Accanto ad una descrizione delle morfologie proposte, vengono presentati obiettivi, metodologia e risultati di una analisi combinata, volta alla validazione del concetto attraverso verifica sperimentale ed analisi agli elementi finiti (FEM). Il materiale iperelastico adottato è compatibile con l'applicazione di tecniche di Prototipazione Rapida. I risultati ottenuti confermano l'efficacia della soluzione nel generare un comportamento molto simile a quello dei modelli biologici di riferimento.\n
\n\n\n
\n\n\n
\n \n\n \n \n Vertechy, R; Berselli, G; Parenti Castelli, V; and Vassura, G\n\n\n \n \n \n \n \n A New Procedure for the Optimization of a Dielectric Elastomer Actuator (extended version).\n \n \n \n \n\n\n \n\n\n\n In Proceedings of II Giornata Ettore Funaioli, University of Bologna, Bologna, Italy, pages 271–282, 2008. \n \n\n\n\n
\n\n\n\n \n \n \"A paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PI52008,\r\n  author    = {Vertechy, R and Berselli, G and {Parenti Castelli}, V and Vassura, G},\r\n  title     = {{A New Procedure for the Optimization of a Dielectric Elastomer Actuator (extended version)}},\r\n  booktitle = {Proceedings of II Giornata Ettore Funaioli, University of Bologna, Bologna, Italy},\r\n  year      = {2008},\r\n  pages     = {271--282},\r\n  abstract  = {A novel mathematical procedure is proposed, which makes it possible to optimize lozenge-shaped dielectric-elastomer-based linear actuators for known materials and desired force/stroke requirements. Simulation results are provided which both demonstrate the efficacy of the novel procedure with respect to traditional design approaches and show that simpler, cheaper, lighter and better-behaved lozenge-shaped actuators can be conceived which do not require any integration of compliant frame elements.},\r\n  isbn      = {978-88-86909-53-2},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2008_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n A novel mathematical procedure is proposed, which makes it possible to optimize lozenge-shaped dielectric-elastomer-based linear actuators for known materials and desired force/stroke requirements. Simulation results are provided which both demonstrate the efficacy of the novel procedure with respect to traditional design approaches and show that simpler, cheaper, lighter and better-behaved lozenge-shaped actuators can be conceived which do not require any integration of compliant frame elements.\n
\n\n\n
\n\n\n
\n \n\n \n \n Berselli, G; Vertechy, R; Vassura, G; and Parenti Castelli, V\n\n\n \n \n \n \n \n Sviluppo concettuale di un dispositivo innovativo per attuatori ad elastomeri dielettrici.\n \n \n \n \n\n\n \n\n\n\n In AIAS'08, Convegno Nazionale dell' Associazione Italiana per l' Analisi delle Sollecitazioni, Roma, Italy, pages 163(11), 2008. \n \n\n\n\n
\n\n\n\n \n \n \"Sviluppo paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PI62008,\r\n  author    = {Berselli, G and Vertechy, R and Vassura, G and {Parenti Castelli}, V},\r\n  title     = {{Sviluppo concettuale di un dispositivo innovativo per attuatori ad elastomeri dielettrici}},\r\n  booktitle = {AIAS'08, Convegno Nazionale dell' Associazione Italiana per l' Analisi delle Sollecitazioni, Roma, Italy},\r\n  year      = {2008},\r\n  pages     = {163(11)},\r\n  abstract  = {Grazie al peso ridotto, all'elevata densit{\\`{a}} di potenza ed ai costi contenuti, gli attuatori ad elastomeri dielettrici (ED) stanno generando grande interesse in ambito meccatronico ancorch{\\'{e}} tale tecnologia non abbia tuttora raggiunto la piena maturit{\\`{a}}. In questo articolo si esaminano le propriet{\\`{a}} elettromeccaniche di film di ED sagomati a forma di rombi piani ed accoppiati ad un dispositivo di supporto formato da due meccanismi cedevoli connessi in parallelo. Il primo meccanismo (detto diamante) ha i membri direttamente accoppiati al perimetro dell'ED. Il secondo meccanismo (detto delta) {\\`{e}} progettato in modo da modificare la caratteristica di rigidezza dell'insieme diamante-ED, al fine di ottenere un attuatore a forza quasi-costante all'interno di una determinata corsa utile. Il dimensionamento dei meccanismi cedevoli {\\`{e}} affrontato attraverso modelli pseudo-rigidi e verificato mediante analisi agli elementi finiti. Vengono infine mostrati i primi prototipi del dispositivo.},\r\n  isbn      = {978-88-87965-51-3.},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2008_2.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Grazie al peso ridotto, all'elevata densità di potenza ed ai costi contenuti, gli attuatori ad elastomeri dielettrici (ED) stanno generando grande interesse in ambito meccatronico ancorché tale tecnologia non abbia tuttora raggiunto la piena maturità. In questo articolo si esaminano le proprietà elettromeccaniche di film di ED sagomati a forma di rombi piani ed accoppiati ad un dispositivo di supporto formato da due meccanismi cedevoli connessi in parallelo. Il primo meccanismo (detto diamante) ha i membri direttamente accoppiati al perimetro dell'ED. Il secondo meccanismo (detto delta) è progettato in modo da modificare la caratteristica di rigidezza dell'insieme diamante-ED, al fine di ottenere un attuatore a forza quasi-costante all'interno di una determinata corsa utile. Il dimensionamento dei meccanismi cedevoli è affrontato attraverso modelli pseudo-rigidi e verificato mediante analisi agli elementi finiti. Vengono infine mostrati i primi prototipi del dispositivo.\n
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\n \n\n \n \n Berselli, G; and Vassura, G\n\n\n \n \n \n \n \n Progetto concettuale di un robot seriale per il trattamento della Labirintolitiasi.\n \n \n \n \n\n\n \n\n\n\n In AIAS'07, Convegno Nazionale dell' Associazione Italiana per l' Analisi delle Sollecitazioni, Napoli, Italy, pages 49(12), 2007. \n \n\n\n\n
\n\n\n\n \n \n \"Progetto paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n  \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@InProceedings{PI72007,\r\n  author    = {Berselli, G and Vassura, G},\r\n  title     = {{Progetto concettuale di un robot seriale per il trattamento della Labirintolitiasi}},\r\n  booktitle = {AIAS'07, Convegno Nazionale dell' Associazione Italiana per l' Analisi delle Sollecitazioni, Napoli, Italy},\r\n  year      = {2007},\r\n  pages     = {49(12)},\r\n  abstract  = {Nel presente lavoro viene affrontato con un approccio sistematico il progetto concettuale di un manipolatore seriale per applicazioni mediche, consistenti nella diagnosi e nel trattamento della Labirintolitiasi: si tratta di una comune forma di vertigine, attualmente curata attraverso apposite manovre liberatorie eseguite manualmente dal medico specialista che muove il capo del paziente lungo traiettorie determinate. La metodologia proposta si pu{\\`{o}} applicare in generale per la sintesi topologica e dimensionale di catene cinematiche seriali. Il processo di design viene automatizzato mediante una tecnica di ottimizzazione basata su algoritmi genetici che permette di valutare in maniera oggettiva le performance di ogni possibile configurazione cinematica del manipolatore rispetto a funzioni obiettivo opportunamente definite nelle varie fasi progettuali. Una descrizione della architettura prescelta nel caso del robot per il trattamento della Labirintolitiasi esemplifica i risultati ottenuti.},\r\n  isbn      = {978-88-87998-75-7.},\r\n  type      = {(F) National Conference Proceedings},\r\n  url_paper = {http://berselli.xara.hosting/berselli_papers/CN2007_1.pdf},\r\n}\r\n\r\n
\n
\n\n\n
\n Nel presente lavoro viene affrontato con un approccio sistematico il progetto concettuale di un manipolatore seriale per applicazioni mediche, consistenti nella diagnosi e nel trattamento della Labirintolitiasi: si tratta di una comune forma di vertigine, attualmente curata attraverso apposite manovre liberatorie eseguite manualmente dal medico specialista che muove il capo del paziente lungo traiettorie determinate. La metodologia proposta si può applicare in generale per la sintesi topologica e dimensionale di catene cinematiche seriali. Il processo di design viene automatizzato mediante una tecnica di ottimizzazione basata su algoritmi genetici che permette di valutare in maniera oggettiva le performance di ogni possibile configurazione cinematica del manipolatore rispetto a funzioni obiettivo opportunamente definite nelle varie fasi progettuali. Una descrizione della architettura prescelta nel caso del robot per il trattamento della Labirintolitiasi esemplifica i risultati ottenuti.\n
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\n  \n (G) Workshops\n \n \n (15)\n \n \n
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\n \n\n \n \n Avalle, M; Berselli, G; Monti, M; Bilancia, P; and Frascio, M\n\n\n \n \n \n \n \n Ativitá di Ricerca AM presso l'Universitá di Genova - DIME.\n \n \n \n \n\n\n \n\n\n\n Workshop del Comitato di Coordinamento Intersettoriale sull'Additive Manufacturing, 2019.\n \n\n\n\n
\n\n\n\n \n \n \"Ativitá paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Misc{WS2019A,\r\n  author       = {Avalle, M and Berselli, G and Monti, M and Bilancia, P and Frascio, M},\r\n  title        = {{Ativit{\\'{a}} di Ricerca AM presso l'Universit{\\'{a}} di Genova - DIME}},\r\n  howpublished = {Workshop del Comitato di Coordinamento Intersettoriale sull'Additive Manufacturing},\r\n  year         = {2019},\r\n  address      = {Bologna, Italy},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W15.pdf},\r\n}\r\n\r\n
\n
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\n \n\n \n \n Andrisano, A O; Berselli, G; Bilancia, P; and Pellicciari, M\n\n\n \n \n \n \n \n Progetto Ed Ottimizzazione Di Forma Di Un Dispositivo Cedevole A Forza Costante.\n \n \n \n \n\n\n \n\n\n\n Proceedings of XIII Giornata Ettore Funaioli, 2019.\n \n\n\n\n
\n\n\n\n \n \n \"Progetto paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Misc{WS2019B,\r\n  author       = {Andrisano, A O and Berselli, G and Bilancia, P and Pellicciari, M},\r\n  title        = {{Progetto Ed Ottimizzazione Di Forma Di Un Dispositivo Cedevole A Forza Costante}},\r\n  howpublished = {Proceedings of XIII Giornata Ettore Funaioli},\r\n  year         = {2019},\r\n  address      = {Bologna, Italy},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W14.pdf},\r\n}\r\n\r\n
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\n \n\n \n \n Grandi, F; Peruzzini, M; Andrisano, A O; Pellicciari, M; and Berselli, G\n\n\n \n \n \n \n \n Development And Validation Of A New Methodology For Human-Centered Workstation Design.\n \n \n \n \n\n\n \n\n\n\n Proceedings of XIII Giornata Ettore Funaioli, 2019.\n \n\n\n\n
\n\n\n\n \n \n \"Development paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Misc{WS2019C,\r\n  author       = {Grandi, F and Peruzzini, M and Andrisano, A O and Pellicciari, M and Berselli, G},\r\n  title        = {{Development And Validation Of A New Methodology For Human-Centered Workstation Design}},\r\n  howpublished = {Proceedings of XIII Giornata Ettore Funaioli},\r\n  year         = {2019},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W13.pdf},\r\n}\r\n\r\n
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\n \n\n \n \n Andrisano, A O; Berselli, G; Bilancia, P; and Pellicciari, M\n\n\n \n \n \n \n \n Design and Virtual Prototyping of a Variable Stiffness Joint via Shape Optimization in a CAD/CAE Environment.\n \n \n \n \n\n\n \n\n\n\n Proceedings of XII Giornata Ettore Funaioli, 2018.\n \n\n\n\n
\n\n\n\n \n \n \"Design paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Misc{WS2018A,\r\n  author       = {Andrisano, A O and Berselli, G and Bilancia, P and Pellicciari, M},\r\n  title        = {{Design and Virtual Prototyping of a Variable Stiffness Joint via Shape Optimization in a CAD/CAE Environment}},\r\n  howpublished = {Proceedings of XII Giornata Ettore Funaioli},\r\n  year         = {2018},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W12.pdf},\r\n}\r\n\r\n
\n
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\n \n\n \n \n Berselli, G; Bilancia, P; and Razzoli, R\n\n\n \n \n \n \n \n Project-based Learning of CAD/CAE Tools for the Integrated Design of Automatic Machines.\n \n \n \n \n\n\n \n\n\n\n ADM & ING-IND/15 Workshop, 2018.\n \n\n\n\n
\n\n\n\n \n \n \"Project-based paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Misc{WS2018B,\r\n  author       = {Berselli, G and Bilancia, P and Razzoli, R},\r\n  title        = {{Project-based Learning of CAD/CAE Tools for the Integrated Design of Automatic Machines}},\r\n  howpublished = {ADM {\\&} ING-IND/15 Workshop},\r\n  year         = {2018},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W10.pdf},\r\n}\r\n\r\n
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\n \n\n \n \n Andrisano, A O; Berselli, G; Gadaleta, M; Pellicciari, M; and Peruzzini, M\n\n\n \n \n \n \n \n Il progetto AREUS – Robotica Industriale eco-efficiente e sostenibile.\n \n \n \n \n\n\n \n\n\n\n Proceedings of X Giornata Ettore Funaioli, 2017.\n \n\n\n\n
\n\n\n\n \n \n \"Il paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Misc{WS2017A,\r\n  author       = {Andrisano, A O and Berselli, G and Gadaleta, M and Pellicciari, M and Peruzzini, M},\r\n  title        = {{Il progetto AREUS – Robotica Industriale eco-efficiente e sostenibile}},\r\n  howpublished = {Proceedings of X Giornata Ettore Funaioli},\r\n  year         = {2017},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W11.pdf},\r\n}\r\n\r\n
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\n \n\n \n \n Berselli, G; Razzoli, R; Pellicciari, M; and Vaschieri, V.\n\n\n \n \n \n \n \n Prototipazione Virtuale e Simulazione di un Dispositivo di Compensazione Cedevole per l'Assemblaggio Robotizzato.\n \n \n \n \n\n\n \n\n\n\n ADM & ING-IND/15 Workshop, 2017.\n \n\n\n\n
\n\n\n\n \n \n \"Prototipazione paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Misc{WS2017B,\r\n  author       = {Berselli, G and Razzoli, R and Pellicciari, M and Vaschieri, V.},\r\n  title        = {{Prototipazione Virtuale e Simulazione di un Dispositivo di Compensazione Cedevole per l'Assemblaggio Robotizzato}},\r\n  howpublished = {ADM {\\&} ING-IND/15 Workshop},\r\n  year         = {2017},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W9.pdf},\r\n}\r\n\r\n
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\n \n\n \n \n Vertechy, R; Berselli, G; and Fontana, M\n\n\n \n \n \n \n \n Lozenge-shaped dielectric elastomer actuator based on Styrenic rubber.\n \n \n \n \n\n\n \n\n\n\n ASME SMASIS, Int. Conf. on Smart Materials, Adaptive Structures and Intelligent Systems, 2016.\n \n\n\n\n
\n\n\n\n \n \n \"Lozenge-shaped paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Misc{WS2016A,\r\n  author       = {Vertechy, R and Berselli, G and Fontana, M},\r\n  title        = {{Lozenge-shaped dielectric elastomer actuator based on Styrenic rubber}},\r\n  howpublished = {ASME SMASIS, Int. Conf. on Smart Materials, Adaptive Structures and Intelligent Systems},\r\n  year         = {2016},\r\n  pages        = {1--10},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W8.pdf},\r\n}\r\n\r\n
\n
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\n \n\n \n \n G. Berselli G. Scirè Mammano, E D.\n\n\n \n \n \n \n \n Methods and tools for designing dielectric elastomer actuators with quasi-constant available thrust.\n \n \n \n \n\n\n \n\n\n\n MIMEMS Worskshop on Smart Materials Systems, 2014.\n \n\n\n\n
\n\n\n\n \n \n \"Methods paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Misc{WS2014A,\r\n  author       = {{G. Berselli G. Scir{\\`{e}} Mammano}, E Dragoni},\r\n  title        = {{Methods and tools for designing dielectric elastomer actuators with quasi-constant available thrust}},\r\n  howpublished = {MIMEMS Worskshop on Smart Materials Systems},\r\n  year         = {2014},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W7.pdf},\r\n}\r\n\r\n
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\n \n\n \n \n Berselli, G\n\n\n \n \n \n \n \n Prototipazione Virtuale e Simulazione per l'Eco-Efficient Design di Impianti Robotizzati.\n \n \n \n \n\n\n \n\n\n\n ING-IND/15 Workshop, 2014.\n \n\n\n\n
\n\n\n\n \n \n \"Prototipazione paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n  \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Misc{WS2014B,\r\n  author       = {Berselli, G},\r\n  title        = {{Prototipazione Virtuale e Simulazione per l'Eco-Efficient Design di Impianti Robotizzati}},\r\n  howpublished = {ING-IND/15 Workshop},\r\n  year         = {2014},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W6.pdf},\r\n}\r\n\r\n
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\n \n\n \n \n Vertechy, R; Berselli, G; Vassura, G; Castelli, V.; and Bergamasco, M.\n\n\n \n \n \n \n \n Sviluppo e validazione sperimentale di un controllore di forza per attuatori ad elastomeri dielettrici.\n \n \n \n \n\n\n \n\n\n\n MIMEMS Worskshop on Smart Materials Systems, Scilla, Italy, 2012.\n \n\n\n\n
\n\n\n\n \n \n \"Sviluppo paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Misc{WS2012A,\r\n  author       = {Vertechy, R and Berselli, G and Vassura, G and Castelli, V.Parenti and Bergamasco, Massimo},\r\n  title        = {{Sviluppo e validazione sperimentale di un controllore di forza per attuatori ad elastomeri dielettrici}},\r\n  howpublished = {MIMEMS Worskshop on Smart Materials Systems, Scilla, Italy},\r\n  year         = {2012},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W5.pdf},\r\n}\r\n\r\n
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\n \n\n \n \n Palli, G; an C. Melchiorri , G B.; Berselli, G; and Vassura, G\n\n\n \n \n \n \n \n Definition of actuation and kinematics capabilities of robotic hands for grasping and manipulation of common objects.\n \n \n \n \n\n\n \n\n\n\n Workshop on Grasping and Manipulation, IEEE ICRA2010, International Conference on Robotics and Automation, Anchorage, Alaska. ISBN: 978-1-4244-5040-4, 2010.\n \n\n\n\n
\n\n\n\n \n \n \"Definition paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Misc{WS2010A,\r\n  author       = {Palli, G and {an C. Melchiorri}, G Borghesan and Berselli, G and Vassura, G},\r\n  title        = {{Definition of actuation and kinematics capabilities of robotic hands for grasping and manipulation of common objects}},\r\n  howpublished = {Workshop on Grasping and Manipulation, IEEE ICRA2010, International Conference on Robotics and Automation, Anchorage, Alaska. ISBN: 978-1-4244-5040-4},\r\n  year         = {2010},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W4.pdf},\r\n}\r\n\r\n
\n
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\n \n\n \n \n Palli, G; Melchiorri, C; Berselli, G; and Vassura, G\n\n\n \n \n \n \n \n Design and control of Variable Stiffness Actuation Systems.\n \n \n \n \n\n\n \n\n\n\n Workshop on Variable Impedance Actuators, IEEE ICRA2010, International Conference on Robotics and Automation, Anchorage, Alaska. ISBN: 978-1-4244-5040-4, 2010.\n \n\n\n\n
\n\n\n\n \n \n \"Design paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Misc{WS2010B,\r\n  author       = {Palli, G and Melchiorri, C and Berselli, G and Vassura, G},\r\n  title        = {{Design and control of Variable Stiffness Actuation Systems}},\r\n  howpublished = {Workshop on Variable Impedance Actuators, IEEE ICRA2010, International Conference on Robotics and Automation, Anchorage, Alaska. ISBN: 978-1-4244-5040-4},\r\n  year         = {2010},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W3.pdf},\r\n}\r\n\r\n
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\n \n\n \n \n Palli, G; Melchiorri, C; Berselli, G; and Vassura., G\n\n\n \n \n \n \n \n Variable Stiffness Actuation Systems: Implementation and Control.\n \n \n \n \n\n\n \n\n\n\n SIDRA 2010 Conference, Ancona, Italy, September 13-15, 2010.\n \n\n\n\n
\n\n\n\n \n \n \"Variable paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
\n 
@Misc{WS2010C,\r\n  author       = {Palli, G and Melchiorri, C and Berselli, G and Vassura., G},\r\n  title        = {{Variable Stiffness Actuation Systems: Implementation and Control}},\r\n  howpublished = {SIDRA 2010 Conference, Ancona, Italy, September 13-15},\r\n  year         = {2010},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W2.pdf},\r\n}\r\n\r\n
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\n \n\n \n \n Palli, G; Melchiorri, C; Berselli, G; and Vassura., G\n\n\n \n \n \n \n \n Variable stiffness joints based on compliant flexures: Design and control aspects.\n \n \n \n \n\n\n \n\n\n\n SIDRA 2009 Conference, Siracusa, Italy, September 17-19, 2009.\n \n\n\n\n
\n\n\n\n \n \n \"Variable paper\n  \n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
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@Misc{WS2009A,\r\n  author       = {Palli, G and Melchiorri, C and Berselli, G and Vassura., G},\r\n  title        = {{Variable stiffness joints based on compliant flexures: Design and control aspects}},\r\n  howpublished = {SIDRA 2009 Conference, Siracusa, Italy, September 17-19},\r\n  year         = {2009},\r\n  type         = {(G) Workshops},\r\n  url_paper    = {http://berselli.xara.hosting/berselli_papers/W1.pdf},\r\n}\r\n\r\n
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\n  \n (H) Patents\n \n \n (3)\n \n \n
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\n \n\n \n \n Berselli, G.; Vassura, G.; and Modugno, G.\n\n\n \n \n \n \n Dispositivo per la movimentazione di pazienti (Device for patients handling).\n \n \n \n\n\n \n\n\n\n Patnet No. RM2007A000252. Issued for University of Bologna.. 2007..\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
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@Article{Brr,\r\n  author  = {Berselli, G. and Vassura, G. and Modugno, G.},\r\n  title   = {Dispositivo per la movimentazione di pazienti (Device for patients handling)},\r\n  journal = {Patnet No. RM2007A000252. Issued for University of Bologna.},\r\n  year    = {2007.},\r\n  type    = {(H) Patents},\r\n}\r\n\r\n
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\n \n\n \n \n Berselli, G.\n\n\n \n \n \n \n Imballaggio sovrapponibile (Superimposable packing).\n \n \n \n\n\n \n\n\n\n Patnet No. RM2007A000252. Issued for Samples System Service S.p.a... 2007..\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
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@Article{Br2,\r\n  author  = {Berselli, G.},\r\n  title   = {Imballaggio sovrapponibile (Superimposable packing)},\r\n  journal = {Patnet No. RM2007A000252. Issued for Samples System Service S.p.a..},\r\n  year    = {2007.},\r\n  type    = {(H) Patents},\r\n}\r\n\r\n
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\n \n\n \n \n Berselli, G.; and Bruzzone, L.\n\n\n \n \n \n \n Deformable inflatable wing with capability to modify, upon command, the aerody-namic profile.\n \n \n \n\n\n \n\n\n\n Patnet No. 102016000070114. Issued for Giovanni Berselli.. 2007..\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
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@Article{Br3,\r\n  author  = {Berselli, G. and Bruzzone, L.},\r\n  title   = {Deformable inflatable wing with capability to modify, upon command, the aerody-namic profile},\r\n  journal = {Patnet No. 102016000070114. Issued for Giovanni Berselli.},\r\n  year    = {2007.},\r\n  type    = {(H) Patents},\r\n}\r\n\r\n
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\n  \n (I) Ph.D. Thesis\n \n \n (1)\n \n \n
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\n \n\n \n \n Berselli, G.\n\n\n \n \n \n \n On Designing Compliant Actuators based on Dielectric Elastomers.\n \n \n \n\n\n \n\n\n\n Ph.D. Thesis, Department of Mechanical Engineering, University of Bologna, Italy, 2009.\n \n\n\n\n
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@PhdThesis{T1,\r\n  author = {G. Berselli},\r\n  title  = {On Designing Compliant Actuators based on Dielectric Elastomers},\r\n  school = {Department of Mechanical Engineering, University of Bologna, Italy},\r\n  year   = {2009},\r\n  type   = {(I) Ph.D. Thesis},\r\n}\r\n\r\n
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\n  \n (J) Master Thesis\n \n \n (1)\n \n \n
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\n \n\n \n \n Berselli, G.\n\n\n \n \n \n \n Modeling and Simulation of an Inertia-Type Infinitely Variable Transimission for use in Automotive Industry.\n \n \n \n\n\n \n\n\n\n (J) Master Thesis, Department of Mechanical Engineering, University of Modena and Reggio Emilia, 2004.\n \n\n\n\n
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@MastersThesis{T2,\r\n  author = {G. Berselli},\r\n  title  = {Modeling and Simulation of an Inertia-Type Infinitely Variable Transimission for use in Automotive Industry},\r\n  school = {Department of Mechanical Engineering, University of Modena and Reggio Emilia},\r\n  year   = {2004},\r\n  type   = {(J) Master Thesis},\r\n}\r\n\r\n
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