Tesi etd-11212018-175458 |
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Tipo di tesi
Tesi di laurea magistrale
Autore
CALAGNA, GASPARE
URN
etd-11212018-175458
Titolo
Analisi e realizzazione di un polso parallelo a rigidezza variabile
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Bicchi, Antonio
correlatore Ing. Grioli, Giorgio
correlatore Ing. Catalano, Manuel Giuseppe
correlatore Ing. Grioli, Giorgio
correlatore Ing. Catalano, Manuel Giuseppe
Parole chiave
- Deltawrist
- polso robotico
- soft robotics
- variable stiffness
- VSA
Data inizio appello
10/12/2018
Consultabilità
Non consultabile
Data di rilascio
10/12/2088
Riassunto
This thesis work focuses on the design and realization of a robotic parallel wrist with variable stiffness and two degrees of freedom of orientation for applications in the field of robotic manupilation.
Traditionally, robots are actuated in a rigid way in order to be accurate, but it strongly limits their interaction possibilities with either the environment and human operators.
In order to ease and improve the interaction of an end-effector (a robotic hand or a generic tool), the recent trend is to realize soft robots.
A robotic wrist with variable stiffness can play a fundamental role, as a link element between the end-effector and the rest of the robot, in order to augment either its motion and application possibilities.
According to the requirements of accuracy and robustness for the orientation of a robotic hand, a parallel mechanism with 2 degrees of freedom has been considered and its kinematic structure has been studied.
Conceiving the implementation of the variable stiffness, its structure has been changed and its kinematics solved in an original way.
It has been analized the statics of the elastic system and derived a linearized model, through which to implement a simultaneous pose and stiffness control, that has been developed in MATLAB & Simulink.
Finally, two prototypes have been designed, by using the CAD software Creo Parametric.
One of the two has been realized with techniques of rapid prototyping, and has been tested with some experiments that validated the previous model and showed the effective possibility of controlling both its pose and stiffness.
Traditionally, robots are actuated in a rigid way in order to be accurate, but it strongly limits their interaction possibilities with either the environment and human operators.
In order to ease and improve the interaction of an end-effector (a robotic hand or a generic tool), the recent trend is to realize soft robots.
A robotic wrist with variable stiffness can play a fundamental role, as a link element between the end-effector and the rest of the robot, in order to augment either its motion and application possibilities.
According to the requirements of accuracy and robustness for the orientation of a robotic hand, a parallel mechanism with 2 degrees of freedom has been considered and its kinematic structure has been studied.
Conceiving the implementation of the variable stiffness, its structure has been changed and its kinematics solved in an original way.
It has been analized the statics of the elastic system and derived a linearized model, through which to implement a simultaneous pose and stiffness control, that has been developed in MATLAB & Simulink.
Finally, two prototypes have been designed, by using the CAD software Creo Parametric.
One of the two has been realized with techniques of rapid prototyping, and has been tested with some experiments that validated the previous model and showed the effective possibility of controlling both its pose and stiffness.
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