MOTTOLA G.

In this paper, we consider the history of nomograms as a computational tool in mechanical engineering, together with their potential applications for teaching purposes, and summarize the mathematical methods used to derive them. Nomograms are graphical descriptions of a mathematical problem, such that the desired solution may be derived through...

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Cable-driven parallel robots can provide interesting advantages over conventional robots with rigid links; in particular, robots with a cable-suspended architecture can have very large workspaces. Recent research has shown that dynamic trajectories allow the robot to further increase its workspace by taking advantage of inertial effects. In our...

Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to...

This Chapter reviews the literature on gravity balancing for parallel robots by using so-called constant-force generators. Parallel robots are formed by several kinematic chains connecting, in parallel, a fixed base to a moving end-effector. A constant-force generator is a mechanism that is able to exert, at a given point, a force having...

Parallel robots with a configurable platform are a class of parallel robots in which the end-effector is a closed-loop kinematic chain. In n-RRR planar robots the end-effector is a n-bar chain controlled by n actuated RRR chains connected to the base. We solve the direct kinematic problem for 4, 5 and 6-RRR mechanisms by using bilateration, a...

In this paper, we analyze a spatial 3-degree-of-freedom cable-driven robot with a point-mass end-effector suspended by 3 cables. The kinematic and dynamic behaviour of this robot was investigated in previous works, in particular, the possibility of taking advantage of inertia forces on the end-effector to enlarge the robot workspace. Here, we...