A Brief History of Industrial Robotics in the 20th Century

Industrial robotics is a branch of robotics that gained paramount importance in the last century. The presence of robots totally revolutionized the industrial environment in just a few decades. In this paper, a brief history of industrial robotics in the 20th century will be presented, and a proposal for classifying the evolution of industrial robots into four generations is set forward. The characteristics of the robots belonging to each generation are mentioned, and the evolution of their features is described. The most significant milestones of the history of industrial robots, from the 1950\u2019s to the end of the century, are mentioned, together with a description of the most representative industrial robots that were designed and manufactured in those decades

Silk Mills in the Early Modern Italy

In early modern times, Italian silk fabrics and threads dominated European markets. One of the drivers of the success of Italian artisans was the silk mills, able to carry out some crucial phases of silk processing. Particular importance had the mill developed by Bolognese artisans, a fully mechanized mill which is considered an early example of factory system. In this paper, after presenting a brief historical overview of the silk sector in the early modern Italy, we provide a technical description of the working principles of two families of silk mills: the mulino da seta alla bolognese (Bolognese silk mill) and the mulino da seta alla milanese o alla genovese (Milanese or Genoese silk mill)

Modelling and control of mechatronic and robotic systems

3noopenopenGasparetto A.; Seriani S.; Scalera L.Gasparetto, A.; Seriani, S.; Scalera, L

3-D ERLS based dynamic formulation for flexible-link robots: theoretical and numerical comparison between the Finite Element Method and the Component Mode Synthesis approaches

The industrial demand for high-performance and low energy consume has highlighted the need to develop lightweight manipulators and robots. However, their design and control result more difficult with respect to rigid-link robotic systems mainly due to the structural flexibility of the arms. To this end, the Equivalent Rigid-Link System (ERLS) approach for 3-D flexible link robots has been developed and, in this work, is considered in its recent developments. In particular, two recently published 3-D Equivalent Rigid-Link System formulations are discussed and compared by means of numerical simulations to highlight their strengths and possible weaknesses. The former deals with the Equivalent Rigid-Link System concept extension to spatial manipulators and robots through a Finite Element Method approach (ERLS-FEM), whereas the latter reformulates the model through a Component Mode Synthesis technique (ERLS-CMS). After the definition and discussion of the kinematic and dynamic equations, which account for the coupling between rigid-body and flexible-body motions, an extensive comparison is made. A benchmark manipulator is implemented and the formulations numerically compared in terms of accuracy and computational load under different input conditions

Passive Control of Attachment in Legged Space Robots

In the space environment the absence of gravity calls for constant safe attachment of any loose object, but the low-pressure conditions prohibit the use of glue-type adhesives. The attachment system of freely hunting spiders, e.g. Evarcha arcuata, employs van der Waals forces and mechanical interlocking. Furthermore, detachment is achieved passively and requires little force. Hence, the spider serves as a model for a versatile legged robot for space applications, e.g. on the outer surface of a space station. In this paper, we analyse the dry attachment systems ofE. arcuataand geckos as well as the kinematics of freely hunting spiders. We generalise the results of biological studies on spider locomotion and mobility, including the major movement and the position constraints set by the dry adhesion system. From these results, we define a simplified spider model and study the overall kinematics of the legs both in flight and in contact with the surface. The kinematic model, the data on spider gait characteristics and the adhesion constraints are implemented in a kinematic simulator. The simulator results confirm the principal functionality of our concept

Risk management in solitary agricultural work: new technologies for handling emergency and falls from great heights (SHADE)

Solitary work and agricultural activities are the scenarios of a large number of severe injuries and deaths, also because first aid may be difficult to achieve in isolated locations. This work proposes a technology available on smartphones that allows triggering an emergency call when a fall from height or an unconsciousness state is detected. The results of several tests, which include different detection algorithms and scenarios, are reported in this work. Tests performed with the aid of a dummy have allowed developing a reliable algorithm for the detection of dangerous situations. This system is available as an Android application

Comparison of Model Order Reduction Techniques for Flexible Multibody Dynamics using an Equivalent Rigid-Link System Approach

In this paper we present a comparison of different model order reduction techniques for flexible multibody dynamics. In particular, we adopt a formulation based on a Equivalent Rigid-Link System (ERLS). This approach is suitable in the case of large displacements and small elastic deformations and it allows the kinematic equations of motion to be decoupled from the compatibility equations of the displacements at the joints. The ERLS approach, recently extended through a modal formulation, is here implemented in combination with different reduction techniques, i.e. Craig- Bampton, Interior Mode Ranking (IMR), Guyan, Least Square Model Reduction (LSMR) and Mode Displacement Method (MDM). In order to assess the advantages and disadvantages of the different methodologies, these techniques are applied to a benchmark mechanism under different input conditions, i.e. gravitational force and step torque input. The accuracy of each reduced model is numerically evaluated through the comparison of computational time, the behaviour in frequency domain and by means of vector correlation methods, i.e. the Modal Assurance Criterion (MAC), the Cross-Orthogonality (CO) and the Normalized Cross-Orthogonality (NCO)

Energetic analysis of industrial robots for pick-and-place operations

none4restrictedF. Vidussi, P. Boscariol, L. Scalera, A. GasparettoVidussi, F.; Boscariol, P.; Scalera, L.; Gasparetto, A

Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums

In this paper, we present a new family of overhead traveling cranes based on variable radius drums (VRDs), called cable-based robotic cranes (CBRCs). A VRD is characterized by the variation of the spool radius along its profile. This kind of device is used, in this context, for the development of a cable-robot, which can support and move a load through a planar working area with just two degrees of freedom. First we present the kinematic analysis and the synthesis of the geometry of a VRD profile. Then, the schema of a bidimensional horizontal moving mechanism, based on the VRD theory, and an experimental prototype of a three-dimensional CBRC are presented. The features of this wire-based overhead crane and an analysis of cables tensions are discussed. Finally, the performance of this mechanism is evaluated, demonstrating a deviation between the end-effector and the nominal planar surface of less than 1% throughout the whole working area

A parametric approach for evaluating the stability of agricultural tractors using implements during side-slope activities

A methodological approach for evaluating a priori the stability of agricultural vehicles equipped with different mounted implements and operating on sloping hillsides is shown here. It uses a Matlab simulator in its first phase and, subsequently, the Response Surface Modelling (RSM) to evaluate the coefficients of a set of regression equations able to account for the Type-I and Type-II stability of the whole vehicle (tractor + implement with known dimensions and mass). The regression equations can give reliable punctual numeric estimations of the minimum value of the Roll Stability Index (RSI) and can verify the existence of a Type-I equilibrium without the need of using the simulator or knowing any detail about the model implemented in it. The same equations can also be used to generate many intuitive graphs (\u201cequilibrium maps\u201d) useful to verify quickly the possible overturning of the vehicle. A case-study concerning a 4-wheel drive articulated tractor is then presented to show the potential of the approach and how using its tools. The tractor has been studied in three scenarios, differing on where the implement has to be connected to the tractor (1: frontally; 2: frontally-laterally; 3: in the back). After performing a series of simulations, a set of polynomial models (with 6 independent variables) has been created and verified. Then, these models were used, together with the related equilibrium maps, to predict the stability of 8 implements for scenario 1, 7 implements for scenario 2, and 3 implements for scenario 3, evidencing in particular the danger of using a lateral shredder with a mass greater than 245 kg. The proposed approach and its main outcomes (i.e., the regression equations and the equilibrium maps) can give an effective contribution to the preventive safety of the tractor driver, so it could be useful to integrate it in the homologation procedures for every agricultural vehicle and to include the resulting documentation within the tractor logbook