A Flexible Framework for Robotic Post-Processing of 3D Printed Components

Three-dimensional (3D) printing has revolutionized the production of mechanical components by enabling the creation of objects of complex geometry, but at the same time it has introduced new issues related to post-processing operations. Similarly, robotics has seen an evolution with the emergence of collaborative robots, which can support the operator in human-centric applications. This work aims to bring these two technologies together by presenting a flexible framework for processing raw products obtained through 3D printing technology with the support of collaborative robotics. This framework lays the foundation for the subsequent development of a human-robot cooperation protocol with the aim of simplifying post-processing and particularly finishing operations of metal-printed 3D objects. In this paper, an initial integrated solution is proposed that can address the post-processing needs of objects from 3D printing, providing guidance on the software and hardware tools to be used and the process to be followed to achieve a quality product in compliance with the relevant standards. Verifications in a simulation environment and through algorithms based on the kinematics and statics of a Fanuc collaborative robot implemented in a numerical environment allow verification of the feasibility of several operations. The result is a comprehensive framework that starts from the feasibility study and reaches the completion of the 3D printed component through finishing and post-processing operations

A Proposal for a Simplified Systematic Procedure for the Selection of Electric Motors for Land Vehicles with an Emphasis on Fuel Economy

The selection of the electric motor for the propulsion system in electric vehicles is a crucial step, as it determines the final performance of the vehicle. The design of the propulsion system of an electric vehicle, although similar in principle to that of a conventional endothermic engine, requires a change in vision. Indeed, the main problem in an electric vehicle is its range, which depends not only on the weight of the vehicle but also on the type of powertrain, type of transmission and engine, several factors that are difficult to assess at an early stage. In some cases, during the preliminary design phase of the propulsion system, one simply estimates the maximum power required by the vehicle, neglecting the calculation of the range. This evaluation is postponed to later stages, causing increased complexity and interaction during the propulsion system evaluation process. In this study, vehicle autonomy is taken into account from the outset with the aim to reduce this iteration. This paper proposes a preliminary electric motor selection method for land vehicles, highlighting the importance of smoothing the sampled data of driving cycles. A method for obtaining approximate efficiency maps of the electric motor is also illustrated, and it is shown how the total gear ratio affects vehicle energy consumption. Ultimately, this work makes a contribution to the design of more efficient and high-performance electric vehicles. This topic is more oriented to helping automotive manufactures choose in a fast and structured way electric motors for their vehicles

Posture Optimization of the TIAGo Highly-Redundant Robot for Grasping Operation

This study explores the optimization of the TIAGo robot’s configuration for grasping operation, with a focus on the context of aging. In fact, featuring a mobile base and a robotic arm, the TIAGo robot can conveniently aid individuals with disabilities, including those with motor and cognitive impairments in both domestic and clinical settings. Its capabilities include recognizing visual targets such as faces or gestures using stereo cameras, as well as interpreting vocal commands through acoustic sensors to execute tasks. For example, the robot can grasp and lift objects such as a glass of water and navigate autonomously in order to fulfill a request. The paper presents the position and differential kinematics that form the basis for using the robot in numerous application contexts. In the present case, they are used to evaluate the kinematic performance of the robot relative to an assigned pose in the search for the optimal configuration with respect to the higher-order infinite possible configurations. Ultimately, the article provides insight into how to effectively use the robot in gripping operations, as well as presenting kinematic models of the TIAGo robot