Hermes Giberti

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Parallel robots exhibit high stiffness, low weight and low dynamic forces, mostly because of the closed loop chains implied by their structure, and allow the positioning of the actuators on the truss. These characteristics outline the possibility of actuating such kind of robotic devices by means of pneumatic actuators. The position control of pneumatic(More)
This paper presents the development steps of a fast manipulator, up to the building of the experimental device, in a context of mechatronic design which implies the integration of several engineering disciplines. High performance of the manipu-lator has been achieved by means of the suitable integration of the mechanical part and the drive part. For the(More)
In recent years, medical devices are becoming more and more important either for rehabilitation or to help people during daily life. For example, upper limb devices are used to recover motor functions after strokes, lesions of the nervous system, traumatic brain injuries or spinal cord injuries. Currently, the most important groups of medical devices for(More)
The main applications where parallel robots are used remain until today very limited. The best known examples include flight simulators, large vibrating tables for seismic tests, pointing systems of antennas and telescopes mirrors. Common to all these robotic devices are: (1) high accuracy, (2) high velocities and accelerations, and (3) high loading(More)
Manipulator kinetostatic performances are usually investigated considering only the geometrical structure of the robot, neglecting the effect of the drive system. In some circumstances this approach may leads to errors and mistakes. This may happen if the actuators are not identical to each other or when the employed transmission ratio are not identical(More)
This work describes a method for the simulation of multiple pneumatic actuators in a context of multi body mechanical systems. The model of the single actuator is based on elliptical approximation of non-linear pneumatic devices; friction and sticking phenomena are considered as well. Pneumatic devices introduce forces and new state variables into the(More)
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