FANGHELLA P.

The paper presents a new method for the kinematic synthesis of non-circular gears of general type, for a given law of motion. The proposed method is an extension of cycloidal gearings to the case of non-circular pitch curves. The computation procedure is based on a mixed symbolic-numeric approach that allows us to determine the equations of the...

The kinematic properties of multiloop chains for robot appli cations are investigated using a structure-based approach. The basic concepts related to algebraic groups of displace ments and to Assur's groups are used in order to provide systematic foundations for analysis and synthesis procedures. Analysis techniques are described, and several...

The general approach for the determination of singularities in motion and displacement functions for spatial linkages has been developed by Litvin, et al. (1986b) and also represented in the first part of this paper. Applications of the developed methods for the RCRRC linkage are given in this paper. The authors determined the singularities in...

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...

This paper presents the conceptual and functional design of a novel hybrid leg-wheel-track ground mobile robot for surveillance and inspection, named WheTLHLoc (Wheel-Track-Leg Hybrid Locomotion). The aim of the work is the development of a general-purpose platform capable of combining tracked locomotion on irregular and yielding terrains,...

The paper presents the development of the scaled prototype of an oscillating-arm Wave Energy Converter (WEC), for onshore installation, suitable to be placed above breakwaters. The mechanical architecture is based on a four-bar linkage moved by a floating buoy with alternate heave motion. The mechanical energy is transferred to the electrical...

The paper discusses the application of Reinforcement Learning to the control of an onshore Wave Energy Converter (WEC). The proposed WEC features a simple and low-cost architecture. It is characterized by an oscillating floating rocker arm which moves a four bar linkage in the vertical plane. A mechanical rectifier, based on two one-way...

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The paper outlines the design, implementation, and preliminary testing of a motion tracking system for laparoscopic surgery Training. After system outline, the choice of hardware components and the design experimental setup for system development are discussed. Geometric equations for system calibration and 3D motion tracking are presented,...

With the increasing implementation of compliant mechanisms in high-precision and high-accuracy applications, the need to evaluate the positioning performance of the flexure hinges becomes evident. In this paper, the determination of the accuracy of planar flexures is addressed by analyzing and comparing the available criteria presented in...

Accuracy of the cross-axis flexural pivot is a fundamental requirement in a variety of applications, from robotics to precision engineering. Many studies have been conducted to improve this feature by investigating the effects of various geometric parameters of the cross-axis pivot, such as orientation of the flexures and position of the...

The cross-axis flexural pivot proved to be a valid tool for replacing the traditional revolute joints in a variety of mechanical systems. However, the rotation axis drift limits its implementation in high-precision applications. This investigation presents a procedure for designing high-accuracy flexural pivots actuated by cable-driven systems....

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In this paper, the concept of isotropic compliance is extended to the field of compliant mechanisms. Starting from the design of a rigid-body mechanism, a planar compliant system is determined by applying the rigid-body replacement method. The static behaviour of the isotropic compliant mechanism is validated by finite element simulations and...

In this paper, the concept of isotropic compliance is extended to the field of compliant mechanisms. Starting from the design of a rigid-body mechanism, a planar compliant system is determined by applying the rigid-body replacement method. The static behaviour of the isotropic compliant mechanism is validated by finite element simulations and...

A magnetic structure intended for use in a room-temperature rotary active magnetic regenerator (AMR) is presented, under construction at the University of Genoa. Given the overall size of the regenerator and the thickness of the gap, the magnet design is optimized to produce the highest possible magnetic field difference between two adjacent...

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...

Magnetic refrigeration is becoming increasingly relevant as a means to achieve sustainability in refrigeration, thanks to its durability, efficiency, and low environmental impact. This paper regards the design of a new rotary magnetic refrigerator feasible for domestic use at room temperature. An interdisciplinary approach was necessary to...