Rezia Molfino

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The peg-in-hole insertion is a problem that has been extensively examined in the scientific literature. It represents a generic assembly process of two parts mated by peg-hole couplings. The PMAR Lab group is building the prototype of an innovative high-speed parallel robot for force-controlled applications. Its three-degree-offreedom architecture is(More)
Purpose – The aim of the research is to design, build and test a robot able to autonomously execute slope consolidation tasks. Design/methodology/approach – A multidisciplinary approach has been adopted to solve the problem: mechanical and control architecture have been conceived simultaneously. Modularity and lifecycle are considered. The robot can climb(More)
The traditional industrial approach of robot manufacturers and the alternative integrated mechatronic approach are compared in Fig. 1. Abstract-The paper deals with the integration of mechanical and control aspects involved in the design of an innovative 3dof parallel kinematics machine. Its mechanical architecture is based on the 3-PUU scheme, actuated by(More)