BARTOLINI G.

The aim of this paper is that of summarizing the experience of design and realization of a home-made robotic finger based on non-conventional ideas. The device that we present in this paper is the exploitation of the concepts expressed in the context of an EC funded project called AMADEUS, in which the elephant-trunk principle is used for the...

The vibration clamping problem relevant to a single element (finger) of the AMADEUS gripper is addressed. A simplified model of such an element, constituted by three bellows connected to two plates, one fixed and the other (the tip) free, has been derived The elastic constants in this model are assumed uncertain. Therefore, a sliding mode...

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The objective of this activity is the definition of the characteristics of a new manipulator based on the elephant trunk principle but with a special kind of large bandwidth actuators working with oil at low pressure, controlled with the sliding modes technique and with a new simplex-based approach for tracking trajectories. This work...

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