Master-Thesis Projects

Auto-calibrazione mediante moto libero della posizione iniziale di un robot a cavi piano sottoattuato

Self-calibration by free motion of the initial position of an under-actuated cable-driven planar robot

This thesis proposes a new automatic calibration method that is applicable for under-actuated cable-driven parallel robots. The purpose of this work is to develop a method and a mathematical model that uses free motion as an exciting trajectory for the acquisition of calibration data. The key point of this method is to find a relationship between the unknown parameters to be calibrated (the lengths of the cables) and the parameters that could be measured by the proprioceptive sensors (the swivel pulley angles measured by the encoders). The equations involved are the geometrical-closure equations and the finite-difference velocity equations, solved using the least-squares algorithm.
Simulations are performed on a planar parallel robot driven by 2 cables for validation.

Status: in progress
Supervisors: Prof. M. Carricato, PhD. E. Idà

Movimentazione di elicotteri a bordo nave mediante l’utilizzo di veicoli autonomi ad ancoraggio magnetico

Movement of helicopters on board ship using autonomous vehicles with magnetic anchorage

This thesis proposes a new automatic calibration method that is applicable for under-actuated cable-driven parallel robots. The purpose of this work is to develop Study and design of a vehicle with magnetic anchorage to carry out handling operations of helicopters on board ship. The main phases of the project include the kinetostatic analysis of the helicopter, the dimensioning of the adhesion mechanism, and the conceptual design of the vehicle.

Status: in progress
Supervisors: Prof. M. Carricato, F. Malaguti
In collaboration with: L3HARRIS Calzoni

Studio di fattibilità di un veicolo a guida automatica per linee di assemblaggio Automotive

Feasibility study of an automated guided vehicle for automotive assembly lines

The thesis aims to design an Automated Guided Vehicle (AGV) for the internal handling of goods. The mobile robot is equipped with an auxiliary handling system. After an initial study of the state of the art, the work focuses on kinematic design, choice of traction system, and mechanical design. Finally, the auxiliary handling system consists of a lifting system with motorized rollers to provide logistic support to the production process.

Status: in progress
Supervisors: Prof. M. Carricato, A. Baldassarri, G. Fortini
In collaboration with: IMA Automation

Studio e progetto di generatore di vibrazioni in macchina automatica contatrice

Study and development of a vibrations generator in an automatic counter machine

The thesis aims to design a quick fixing system of parts in an automatic machine using shape memory alloys.

Status: in progress
Supervisors: Prof. M. Carricato, F. Sassi
In collaboration with: IMA Confectionery

Sviluppo di un modello matematico per l’ottimizzazione cinematica e dinamica di un meccanismo a ginocchiera

Development of a mathematical model for the kinematic and dynamic optimization of a toggle mechanism

The thesis project is based on the optimization of a toggle mechanism. The optimization will be done through the development of a mathematical model, this will allow defining the dimensions of the components of the mechanism to reduce the stroke and the force required by the actuator.

Status: in progress
Supervisors: Prof. M. Carricato, M. Salieri
In collaboration with: SACMI IMOLA S.c.r.l

Sviluppo di un pacchetto ROS per il controllo di un cobot addetto alla movimentazione di un pannello di protezione di una macchina automatica

Development of a ROS package to control a cobot handling a protection panel of an automatic machine

The main goal of the project is to develop a ROS package able to guarantee adequate control of a collaborative robot during the opening/closing  phase of the protection panel of an automatic packaging machine. After a scaled version of the real protection panel is realized, the real-time control of the robot will be implemented in the ROS framework and experiments will be performed. The effectiveness of the robot force control will be tested by gradually increasing the panel weight that the robot has to lift.

Status: in progress
Supervisors: Prof. M. Carricato, R. Di Leva, S. Comari

Kinematic Analysis of a Flexible Manipulator with 3 degrees of freedom

The main goal of this thesis is to develop an efficient procedure to solve the multiple solutions that arise in the Inverse and Forward position problems of planar parallel continuum mechanisms with 3 degrees of freedom.
The tasks to be performed in this context are the following:
1. study and understand the deformation model of the slender links (e.g., the Kirchhoff rod model);
2. establishment of the constraint equations of the mechanism, given by the geometric restrictions and the equations derived from the force and moment equilibrium;
3. development of a numeric algorithm to solve the direct position problem of the mechanism;
4. development of a numeric algorithm to solve the inverse position problem of the mechanism;
5. comparison of the developed algorithms with existing minimization algorithms;
6. starting from the set of solutions to the position problem, analysis of their stability;
7. Once the stable solutions are determined, obtain the aspect of the workspace associated with each of them.

Status: in progress
Supervisors: Prof. M. Carricato, Ph. D. E. Idà, Prof. O. Altuzarra, Prof. M. Urizar
In collaboration with: University of Basque Country

Analisi dei dati per la definizione della precisione del sistema IPC 100% di una riempitrice in ambiente asettico

Data analysis to define the accuracy of the 100% IPC system of a filler in an aseptic environment

The thesis aims to define the precision of the weight control group of a pharmaceutical machine in an aseptic environment.
The project involves scheduling tests to be performed, data collection, and subsequent analysis to define accuracy.
Once issues and causes have been identified, new solutions are developed to improve system performance.

Status: in progress
Supervisors: Prof. M. Carricato, L. Stefanini, M. Grigolato
In collaboration with: IMA LIFE S.p.A.

Design of decoupled parallel compliant mechanism

Control of multi-DOF mechanisms can be very complex for manual actuation. Multi-DOF mechanisms with rigid links are prone to having poor precision due to alignment errors and joint clearances caused by the high number of assembled joints. Regarding those challenges, decoupled compliant parallel mechanisms can be used since they offer one-to-one relationships between each input and output while being able to be manufactured as a monolithic structure.

Status: in progress
Supervisors: Prof. M. Carricato, Prof. J. L. Herder
In collaboration with: T.U. Delft