Project Description
Cable-driven parallel robots use cables instead of rigid links to move an operating tool in space. They are underactuated when fewer cables than the end-effector degrees of freedom are used. On one hand, their workspace is highly accessible, on the other only the position of the end-effector can be precisely controlled. This project aims at developing a manipulation strategy leveraging underactuated robots’ intrinsic flexibility so that large plates can be grasped with an electro-adhesive gripper. To achieve this, the robot tool needs to be placed in contact with the object to be manipulated through a hybrid position-force control.
Prerequisites
- Sound knowledge of basic mathematics
- Sound knowledge of basic robotics
- Basic knowledge of electrotechnics
- Strong initiative and attitude problem solving
- Strong will to cope with demanding challenges
Target Objectives
- Improve knowledge about complex robotic systems (Cable-Driven parallel robots)
- Acquire competence in the designing of an industrial robot end-effector
- Acquire knowledge of the electroadhesion phenomenon and its applicability in practical engineering fields
Expected Results
- Development of a strategy for the correct grasping of an object with an electro-adhesive gripper
Industrial Robotics, Mechatronics & Automation Laboratory @ Bologna 