Subjects of activity

The Laboratory of Robotics and Mechatronics (LARM) was founded in 1990 at the School of Engineering of the University of Cassino. The aim of LARM is to develop experience, teaching, and research in the fields of Automation, Robotics and Mechatronics with main focus on aspects of Mechanical Engineering. The activities of LARM are directed and available for collaborations in industrial and professional activity with the purpose to study, to plan, and to improve mechanical systems, with traditional and innovative types. The development of theses on subjects and prototypes for innovation is orientated to form engineers, who will be capable to solve new problems but with interest on traditional techniques of Mechanical Engineering. The main subjects for research activities  at LARM are listed below.

Design and Kinematics of serial and parallel manipulator

The Kinematics of manipulators is investigated in term of Workspace, Inverse Kinematics and Path Planning. Both analysis and synthesis algorithms are studied and developed. Results of theoretical studies and numerical applications are used and checked by building prototypes of new devices, even for innovative applications.

Built prototype: CaPaMan (Cassino Parallel Manipulator), CaPaMan2, CaPaMan3, CaPaMan2bis, CaTraSys (Cassino Tracking System), CALOWI (Cassino Low-cost easy-operation cable driver parallel manipulator).

Performances  evaluation of multi-body systems

Several models for stiffness and dynamic performance analysis of multi-body robotic systems have been developed. The purpose of these performance analyses can be the optimum design and improvements in the operation of existing systems. In addition experimental test have been carried out in order to validate the proposed models.

Mechanics and design of a legged walking robots

Human walking has been mimicked by developing mechanical designs for biped walking robots. A walking system is studied in term of Kinematics, Dynamics and Control by using low-cost mechanical design and easy control equipment. The walking mechanism is investigated for synthesis purposes by using Kinematics, Statics and Dynamics modelling. A low-cost solution for a mechanism of 1dof Chebysev-Pantograph leg has been designed. Moreover, a modular solution has been studied for anthropomorphic leg module for robot multi-leg applications

Built prototype: Anthropomorphic walker (EP-WaR Electropneumatic Walking Robot), Chebyshev-Pantograph leg, Anthropomorphic leg module, Cassino Hexapod  Robot, Legged hybrid walkers.

Mechanics of manipulation and industrial robotizations

Mechanical aspects and manipulation programming of industrial robotization are studied with the aim to enhance existing industrial applications and to develop new manufacturing solutions. The Mechanics of robotized manipulations is investigated also with experimental simulations and with the development of suitable devices for end-effectors and measuring tests.

Mechatronics

Mechatronic systems are studied and designed with the aim to enhance integration of electrical, electronics, pneumatic and mechanical systems. Operation and behavior of mechatronic systems and prototypes are investigated also by means of experimental tests.

Mechanics and design of mechanical grippers

The Mechanics of Grasp is studied referring to mechanical grippers and articulated fingers. The mechanical design of gripping mechanisms is investigated for analysis and synthesis purposes. Experimental tests on Mechanics of Grasp are carried out to verify modelling and design algorithms. Analytical formulation are deduced and studied for optimum synthesis of gripping mechanisms. The regulation  of grasp force is investigated and designed with suitable solutions.

Built prototype: Gipper, Articulated finger,  LARM HAND (a  three-finger hand).

Analysis and design of mechanical systems for automation

Mechanical systems are studied with the aim to develop new solutions, optimum designs and operation improvements. Mechanical aspects are investigated through suitable modelling and formulation that are used for numerical simulations and design algorithms. The characterization of the systems can be validate by experimental tests.

Electropneumatic systems and force control

Automation is studied in term of electropneumatic equipment by developing analysis and design of components assembly and PLC programming. Specific interest is addressed to the study and development of innovative solutions for force control by using industrial components.

Mechanics and design of mechanical transmissions

Cam profiles with circular arcs can be useful for low-speed transmissions and for applications in micro-machines. The experimental analysis has been conceived by preserving the low-cost easy-operation performances of the circular-arc profiles by using a suitable test-bed that has been designed at LARM. Kinematic and Dynamic analysis have been  in order to validate both the numerical design procedure and designed cam profiles more in general mechanical transmissions. A test-bed for brake system has been designed with the aim to check efficiency and performances of motocycle vehicles. The test-bed is designed as composed of modular by using low-cost and commercial sensors.

Built prototype: Test-bed for Cam systems, test-bed for brake systems.