Università di Cassino

Componenti:

Marco Ceccarelli

professore straordinario

dal 1.10.2001

tel: 0776-2993663

e-mail: ceccarelli@unicas.it

Giorgio Figliolini

professore associato

dal 1.3.2002

tel: 0776-2993662

e-mail: figliolini@unicas.it

Massimo Cavacece

ricercatore confermato

dal 1.11.1991

tel: 0776-2993664

e-mail: cavacece@unicas.it

Erika Ottaviano

ricercatrice non confermata

dal 1.3.2002

tel: 0776-2993665

e-mail: ottav@unicas.it

Chiara Lanni

tecnico laureato

dal 6.11.2000

tel: 0776-2993388

e-mail: lanni@unicas.it

Giuseppe Carbone

dottorando

dal 1.11.2000

tel: 0776-2993664

e-mail: carbone@unicas.it

              

Link a web page:

Università di Cassino:  http://www.unicas.it
DiMSAT, Dipartimento di Meccanica, Strutture, Ambiente e Territorio: http://dimsat.ing.unicas.it/  
Laboratorio di Robotica e Meccatronica: http://webuser.unicas.it/weblarm/larmindex.htm

ATTIVITA' DI RICERCA

Progetti finanziati in ambito nazionale

Simulazione, progettazione e validazione sperimentale di strutture robotiche e meccatroniche, Ricerche di ateneo ex 60% dell'Università di Cassino, dal 1996. (responsabile scientifico prof. Marco Ceccarelli)

Contratto di ricerca n°88/748/VIL con Agusta SpA Finmeccanica relativo ad attività di analisi diagnostica di difetti su cuscinetti linea R/C NH90, 1999. (responsabile scientifico ing. Massimo Cavacece)

Metodi e strumenti di progettazione per famiglie di robot per impieghi medicali, Progetto METAFORE, PRIN 1999-2001 (responsabile scientifico prof. Marco Ceccarelli)

 Sistemi elettropneumatici innovativi, Progetto PRIN 1999-2001 (responsabile scientifico ing. Giorgio Figliolini)

Studio di fattibilità e progettazione di un sistema robotizzato per il taglio di tubi di grande spessore dall’interno, stipulato con la Sogin, Società Impianti Nucleare SpA e L'Università di Cassino, Anno 2002

Progettazione integrate di strutture robotiche e manipolazioni industriali, Progetto finanziato con fondi dell’Università di Cassino, Anni 1998-2004

Metodi e strumenti di progettazione per famiglie di robot per impieghi medicali, Progetto RIME PRIN, Anni 2001-2003

Studio di sensorizzazione e del controllo di presa con tecnica PWM, Programma di ricerca nazionale finanziato dal MIUR, Progetto PRIN 2001-2003

Progettazione, simulazione e caratterizzazione sperimentale di camme a profilo policentrico, Progetto PRIN 2003-2005, Anni 2003-2005

Studio di servomeccanismi pneumatici integrati per l’azionamento ed il controllo di organi di presa per la raccolta di prodotti ortofrutticoli, Programma di ricerca nazionale finanziato dal MIUR, Progetto PRIN 2003-2005   

 

Progetti finanziati in ambito internazionale

Progettazione di organi di trasmissione, Progetto bilaterale LARM di Cassino- Robotics Lab di McGill University, Montreal (Canada), Anno 1999

Progetto di un organo di presa per la raccolta ortofrutticola, Programma di Azione Integrata Italia-Spagna, Anni 1999-2000

Cinematica di manipolatori paralleli, Progetto bilaterale LARM di Cassino- Robotics Lab di Laval University, Quebec (Canada), Anno 2000

Meccanica di Manipolatori Seriali e Paralleli, Progetto bilaterale LARM di Cassino- Laboratorio di Automazione dell'Università di Uberlandia, Brasile, finanziato dal Ministero della Cultura del Brasile, Anni 1999- 2001

Progettazione e sperimentazione di micro robot a struttura parallela, Progetto bilaterale LARM di Cassino- Lab of Aerospace Robotics di MIT (USA), Anno 2001

Soluzione di problemi relativi al calcolo dello spazio di lavoro di robot e sue applicazioni, Progetti bilaterali CNR-CSIC (Spagna), Anni 2001- 2002

Progettazione e sperimentazione di robot per usi medicali, Progetti bilaterali CNR- CMOS (Israele), Anni 2001-2002

Progettazione e realizzazione di un sistema di misura a filo ridondante per la valutazione sperimentale di posizione ed orientazione di strutture meccaniche e robotiche, Progetto bilaterale CNR-CSIC (Spagna), Anni 2003-2004

Uso di robot nell’analisi e restauro della architettura storica, Programma di Azione Integrata Italia-Spagna, Anno 2003

 

PUBBLICAZIONI 2001-2004

2001

  1. Carvalho J.C.M., Ceccarelli M., "A Closed Form Formulation for the Inverse Dynamics of Cassino Parallel Manipulator", Journal Multibody System Dynamics, 2001, Vol.5, pp.185-210 and 2001, Vol.6, pp.303.

  2. Ceccarelli M., Ottaviano E., Toti M. "Experimental Determination of Robot Workspace by means of CATRASYS /Cassino Tracking System)", 13th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy.'2000, Springer-Verlag, Wien, 2001, pp.85-92.

  3. Valero F., Mata V., Ceccarelli M., "Path Planning in Complex Environments for Industrial Robots with Additional Degrees of Freedom", 13th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy.2000, Springer-Verlag, Wien, 2001, pp.431-438.

  4. Ceccarelli M., Cigola M., "Trends in the drawing of mechanisms since the early Middles Ages", Proceedings of the Institution of Mechanical Engineers, 2001, Vol.215, Part C, pp. 269-289.

  5. Ceccarelli M., Carbone G., Kerle H., "Designing Mechanisms for Two-Finger Microgrippers", CD Proceedings of the 10th Workshop on Robotics and Alpe-Adria-Danube Region RAAD'01, Wien, 2001, paper RD-021.

  6. Ottaviano E., "Design Considerations on Parallel Manipulators", CD Proceedings of the 10th Workshop on Robotics and Alpe-Adria-Danube Region RAAD'01, Wien, 2001, paper RD -023.

  7. Figliolini G., "A force control system for grippers with pneumatic actuation", CD Proceedings of the 10th Workshop on Robotics and Alpe-Adria-Danube Region RAAD'01, Wien, 2001, paper RD-009.

  8. Figliolini G., "A force control system for grippers with pneumatic actuation", Rivista "Ventil 7", 2001, No.2, pp.84-88. (7 bis)

  9. Ottaviano E., Gosselin C. M., Ceccarelli M., "Singularity Analysis of CaPaMan: A Three-Degree of Freedom Spatial Parallel Manipulator", IEEE International Conference on Robotics and Automation ICRA2001, Seoul, 2001 pp.1295-1300.

  10. Figliolini G., Ceccarelli M., "Climbing Stairs with EP-WAR2 Biped Robot", IEEE International Conference on Robotics and Automation ICRA2001, Seoul, 2001, pp.4116-4121.

  11. Ottaviano E., Ceccarelli M., "Optimal Design of CAPAMAN (Cassino Parallel Manipulator) with Prescribed Workspace", 2nd Workshop on Computational Kinematics KC2001, Seoul, 2001, pp.35-43.

  12. Carbone G., Ceccarelli M., Teolis M., "A Numerical Evaluation of the Stiffness of CaHyMan (Cassino Hybrid Manipulator)", 2nd Workshop on Computational Kinematics KC2001, Seoul, 2001, pp.145-154.

  13. Cuadrado J., Naya M.A., Ceccarelli M., Carbone G., "An optimum Design Procedure for Two-Finger Grippers: A Case of Study", 2nd Workshop on Computational Kinematics CK2001, Seoul, 2001, pp.21-33.

  14. Provenzano S., Mata V., Ceccarelli M., Suner J.L., "Efficient Computation of the Generalized Tensor of Robots by Using the Gibbs-Appell Equations", 2nd Workshop on Computational Kinematics CK2001, Seoul, 2001, pp.85-92.

  15. Carvalho J.C.M., Ceccarelli M., "The Inverse Dynamics of Cassino Parallel Manipulator", 2nd Workshop on Computational Kinematics CK2001, Seoul, 2001, pp.301-308.

  16. Ottaviano E., Lanni C., Ceccarelli M., "Experimental Determination of Workspace Characteristics of Human Arms", 9th International Conference on Control and Automation MED 2001, Dubrovnik, 2001, CD Proceedings, paper n.017.

  17. Ottaviano E., Ceccarelli M., "Optimal Design of CaPaMan (Cassino Parallel Manipulator) With Prescribed Position and Orientation Workspace", 9th International Conference on Control and Automation MED 2001, Dubrovnik, 2001, CD Proceedings, paper n.009.

  18. Lanni C. Pugliese F., Ceccarelli M., "Experimental validation of CaPaMan as Earthquake Simulator", IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM’01, Como, 2001, CD Proceedings, pp. 153-158.

  19. Sorli M., Figliolini G., Pastorelli S., "Dynamic model of a pneumatic proportional pressure valve", IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM’01, Como, 2001, CD Proceedings, Vol.I, pp.630-635.

  20. Figliolini G., "On the motion geometry and kinematic analysis of slider-crank mechanisms", Proceedings of the Eighth IFToMM International Symposium on Theory of Machines and Mechanisms SYROM'01, Bucharest, 2001, Vol.I, pp.129-134.

  21. Lanni C., Ceccarelli M., Figliolini G., "An Analytical Formulation for Two Circular-Arc Cams", CSME Transactions on Mechanical Engineering, Vol.25, N.1, pp.29-49.

  22. Ottaviano E., Figliolini G., Lanni C., Ceccarelli M., Herrera D., Simon A., "Validazioni sperimentali di un controllo della forza di presa in gripper a due dita", XV Congresso Nazionale AIMETA di Meccanica Teorica e Applicata, Taormina, 2001, paper SP-ME44.

  23. Ottaviano E., Ceccarelli M., "Singularity Analysis of CaPaMan: A Three Degree-of-Freedom Spatial Parallel Manipulator", Extended Abstract, EUROMECH 427 – Computational Techniques and Applications in Nonlinear Dynamics of Structures and Multibody Systems, Cachan, 2001.

  24. Figliolini G., Ceccarelli M., "Gait analysis of EP-WAR2 Biped Robot for Walking and Climbing Stairs", 4th Int. Conference on Climbing and Walking Robots ClaWar2001, Professional Engineering Publ., London,2001, pp.827-834.

  25. Figliolini G., Sorli M., "PWM modulation of pneumatic digital valves for engineering applications", Machinery Monthly, June 2001, No.311, Taiwan, pp.324-335. (in Chinese)

  26. Figliolini G., Ceccarelli M., Di Cocco V., "Walking stability of EP-WAR2 biped robot", CD Proceedings of the Fourth European Workshop on Advanced Mobile Robots EUROBOT’01, Lund, 2001.

  27. Carbone G., Ceccarelli M., Takanishi A, Lim H.O.,"A Study of Feasibility for a Low-Cost Humanoid Robot", IEEE-RAS International Conference on Humanoid Robots HUMANOIDS 2001, Tokyo, 2001, paper n.23.

  28. Lanni C., Ceccarelli M., Figliolini G., Ottaviano E., Carbone G., "A Study of Feasibility of a Laboratory Test-Bed for Brake Systems in Indutrial Vehicles", V Congresso Iberoamericano di Ingegneria Meccanica, Merida, 2001, CD Proceedings, pp.645-650.

  29. Sinatra R. , Pappalardo N., Ceccarelli M., "Dynamic Analysis of a New Robotic System for Surgical Application", V Congresso Iberoamericano di Ingegneria Meccanica, Merida, 2001, CD Proceedings, pp.689-695.

  30. Carbone G., Lanni C., Ceccarelli M., Lopez-Cajùn C., "Dynamic effects of Curvature Change in the Profile of Two-Circular-Arc Cams", V Congresso Iberoamericano di Ingegneria Meccanica, Merida, 2001, CD Proceedings, pp.1247-1252.

  31. Ceccarelli M., "Low-Cost Robots for research and teaching activity", Keynote lecture, 5° Congreso Iberoamericano de Ingenieria Mecanica, Merida, 2001, CD Proceedings, 2nd Plenary Keynote.

  32. Lanni C., Saramago S., Ceccarelli M., "Optimum Design of General 3R Manipulators by Using Traditional and Random Search Optimization Techniques", Proceedings of COBEM2001, Uberlandia, 2001, Robotics and Control, Vol.15, pp.107-116

  33. Mendes Carvalho J.C., Ceccarelli M., "Numerical Simulation and Experimental Validation of Dynamic Characteristics of CAPAMAN (Cassino Parallel Manipulator)", Proceedings of COBEM2001, Uberlandia, 2001, Robotics and Control, Vol.15, pp.117-125.

  34. Carbone G., Ceccarelli M., Penisi O., "An Optimum Design of a Mechanism for Microgrippers", Proceedings of COBEM2001, Uberlandia, 2001, Mechanical System Design and Optimization, Vol.13, pp.194-203.

  35. Ceccarelli M., "The Challenges for Machine and Mechanism Design at the Beginning of the Third Millenium as Viewed from the Past", Proceedings of COBEM2001, Uberlandia, 2001, Invited Lectures, Vol.20, pp.132-151.

  36. Ceccarelli M., "A Historical Perspective of Robotics Toward the Future", Fuji International Journal of Robotics and Mechatronics, 2001, Vol.13, No.3, pp.299-313.

  37. Carbone G., Ceccarelli M., Kerle H., Raatz A., "Design and Experimental Validation of a Microgripper", Fuji International Journal of Robotics and Mechatronics, 2001, Vol.13, No.3, pp.319-325.

 2002

  1. Saramago S.F.P., Lanni C., Ottaviano E., Ceccarelli M., "An Experimental Validation of an Optimum Path Planning of Robots with Grasping Force Constraints", 7-th PanAmerican Congress of Applied Mechanics PACAM2002, Temuco, 2002, Vol.9, pp.4456-448.

  2. Ceccarelli M., Fino P.M.D., Jimenez J.M, "Dynamic Performance of CAPAMAN by Numerical Siumulations", Mechanism and Machine Theory, 2002, Vol.37, n.3, pp.241-246.

  3. Figliolini G., Ceccarelli M., "A novel articulated mechanism mimicking the motion of index fingers", International Journal Robotica, 2002, Vol.20, pp13-22.

  4. Ottaviano E., Ceccarelli M., "Optimal Design of CAPAMAN (Cassino Parallel Manipulator) with Prescribed Orientation Workspace", International Journal Robotica, 2002 , Vol.20, pp.159-166.

  5. Ceccarelli M., Carbone G., "A Stiffness Analysis of CaPaMan (Cassino Parallel Manipulator)", Mechanism and Machine Theory, 2002, Vol.37 , n.5 , pp.427-439.

  6. Carbone G., Wolf A., Ceccarelli M., Shoham M., "Application of Serial-Parallel Robot Architectures for Surgery Tasks: A Study of Feasibility" ISACAS02 5-th Israeli Symposium on Computer-Aided Surgery, Medical Robotics, and Medical Imaging, Tel-Aviv, May 2002.

  7. Ceccarelli M., "An optimum design of parallel manipulators formulation and experimental validation", Proceedings of 1-st Int. Colloquium "Collaborative Research Centre 562", Braunschweig, 2002, invited lecture, pp. 47-63.

  8. Ceccarelli M., Cigola M., Ottaviano E., Gallozzi A., Carbone G., Pelliccio A., "A study of Feasibility of Using Robots in Architecture Analysis and Survey of a Historical Pavement", 11th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD2002, Balatonfured, 2002, Proceedings, pp.113-118.

  9. Ottaviano E., Ceccarelli M., Sbardella F., Thomas F., "Experimental Determination of Kinematic Parameters and Workspace of Human Arms", 11th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD2002, Balatonfured, 2002, Proceedings, pp.271-276.

  10. Thomas F., Ottaviano E., Ros L., Ceccarelli M., "Uncertainity Model and Singularities of 3-2-1 Wire-Based Tracking System ", Advances in Robot Kinematics, Kluwer, Dordrecht, 2002, pp.107-116.

  11. Carbone G., Marini G., Ceccarelli M., "Experimental Validation and Tests of Operation Characteristics of a Parallel-Serial Manipulator", 14th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy.'2002, Udine, 2002, Preprints CD, pp. 331-338.

  12. Ceccarelli M., Ottaviano E., "A Workspace Evaluation of Eclipse Robot", International Journal Robotica, 2002, Vol.20, pp.299-313.

  13. Ottaviano E., Ceccarelli M., Toti M., Avila Carrasco C., "CaTraSys (Cassino Traking System): A Wire System for Experimental Evaluation of Robot Workspace", Fuji International Journal of Robotics and Mechatronics, 2002, Vol.14, No.1, pp. 78-87.

  14. Penisi H.O., Carbone G., Ceccarelli M., "Optimum Design and Testing of Mechanisms for Two-Finger Grippers", Int. Symposium on Multybody Systems and Mechatronics MUSME2002, Mexico City, 2002 CD Proceedings,, paper n. M03.

  15. Ottaviano E., Carbone G., Ceccarelli M., "Workspace Analyisis and Performances of a Binary Actuated Parallel Manipulator with Flexural Joints", Int. Symposium on Multybody Systems and Mechatronics MUSME2002, Mexico City, 2002, CD Proceedings, paper n. M10.

  16. Saramago S.F.P., Ceccarelli M., "Effect of Numerical Parameters on a Path Planning of Robots Taking into account Actuating Energy ", Int. Symposium on Multybody Systems and Mechatronics MUSME2002, Mexico City, 2002, CD Proceedings, paper n. M14.

  17. Carbone G., Teolis M., Ceccarelli M., "Experimental validation and tests of CaHyMan’s operation", Int. Symposium on Multybody Systems and Mechatronics MUSME2002, Mexico City, 2002, CD Proceedings, paper n. M15 .

  18. Saramago S.F.P., Lanni C., Ottaviano E., Ceccarelli M., "An Experimental Validation of an Optimum Path planning of Robots with Grasping Force Constraints", Proceedings Seventh Pan American Congress of Applied Mechanics, PACAMVII, Temuco, 2002, Vol.9, pp.445-448.

  19. Lanni C, Saramago S.F.P., Ceccarelli M., "Optimal Design of 3R Manipulators by Using Classical Techniques and Simulated Annealing", Journal of the Brazilian Soc. Mechanical Sciences, 2002, Vol.XXIV, pp. 294-302.

  20. Saramago S., Ottaviano E., Ceccarelli M., "A Characterization of the Workspace Boundary of Three-Revolute Manipulators", Proceedings of DETC’02 ASME 2002 Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, 2002 , paper DETC2002/MECH-34342.

  21. Carbone G., Civitillo R., Ceccarelli M., "Design and test of an articulated mechanism for 1 dof anthropomorphic finger", Proceedings of DETC’02 ASME 2002 Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, 2002 , paper DETC2002/MECH-34300.

  22. Ottaviano E., Ceccarelli M., "Optimum Design of Parallel Manipulators for Workspace and Singularity Performances", Proceedings of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec City, 2002, pp.98-105.

  23. Ceccarelli M., Ottaviano E., Carbone G., Progettazione ed esperienze di laboratorio di un manipolatore parallelo per varie applicazioni", 1a Conferenza Nazionale Sistemi Autonomi Intelligenti e Robotica Avanzata, ENEA Frascati, ottobre 2002.

  24. Lanni C., Ceccarelli M., Figliolini G., "An Analytical Design for Three Circular-Arc Cams", Mechanism and Machine Theory, 2002, Vol. 37, N.9, pp. 915-924.

  25. Ceccarelli M., Ottaviano E., Carbone G., "A Study of Feasibility for a Novel Parallel-Serial Manipulator", Fuji International Journal of Robotics and Mechatronics, Vol. 14, No.3, 2002

  26. Ceccarelli M., "Designing Two-Revolute Manipulators for Prescribed Feasible Workspace Regions", ASME Journal of Mechanical Design, 2002.

  27. Ceccarelli M., Ottaviano E., Galvagno M., "A 3-DOF Parallel Manipulator as Earthquake Motion Simulator", Proceedings of the 7th International Conference on Control, Automation, Robotics anv Vision ICARCV 2002, Singapore, 2002, paper P1073.

2003

  1. Ceccarelli M., “An Illustration Overview of Mechanism Classifications over the Time”, Seminar on History of Science and Technology, Technical University of Kursk, 2003, pp.151-179.

  2. Lanni C., Pugliese F., Ceccarelli M., “A Study of Feasibility for a Robotized Workcell with Press Machines at ITCA Plant”, 12th International Workshop on Robotics in Alpe-Andria-Danube Region RAAD 2003, paper 005RAAD03, Cassino, 2003.

  3.  Carbone G., Ceccarelli M., Ottaviano E., Checcacci D., Frisoli A., Avizzano C.A., Bergamasco M., “A Study of Feasibility for a Macro-Milli Serial-Parallel Robotic Manipulator for Surgery Operated by a 3 Dofs Haptic Device”, 12th International Workshop on Robotics in Alpe-Andria-Danube Region RAAD 2003, paper 006RAAD03, Cassino, 2003.

  4.  Ceccarelli M., Jauregui Becker J.M., Nava Rodriguez N.E., Parada Puig J.E., Lanni C., Carbone G., “Experimental Activity for Designing a Hand with 1 Dof Anthropomorphic Fingers of Human Size”, 12th International Workshop on Robotics in Alpe-Andria-Danube Region RAAD 2003, paper 009RAAD03, Cassino, 2003.

  5.  Carbone G., Lim H.O., Takanishi A., Ceccarelli M., “Optimum Design of a New Humanoid Leg by Using Stiffness Analysis”, 12th International Workshop on Robotics in Alpe-Andria-Danube Region RAAD 2003, Cassino, paper 045RAAD03, 2003.

  6.  Carbone G., Jeckel M., Havlík S., Ceccarelli M., “An Optimum Multi-Objective Design Procedure for Microgripping Mechanisms”, 12th International Workshop on Robotics in Alpe-Andria-Danube Region RAAD 2003, Cassino, paper 055RAAD03, 2003.

  7.   Ceccarelli M., “Low-Cost Robots for Research and Teaching Activity”, IEEE Automation & Robotics Magazine, Vol.10, n.3, pp.37-45, September 2003.

  8. Figliolini G., Sorli M., “Experimental investigation of a pneumatic digital solenoid valve”, Fourth International Symposium on Fluid Power, Transmission and Control (ISFP’03), Eds. Li Zhuangyun, Z. Yuquan, L. Baoren, International Academic Publishers, (Cina), 2003, pp.237-242.

  9. Sorli M., Figliolini G., Pastorelli S., “Mechatronic model and simulation of a pneumatic digital solenoid valve”, Fourth International Symposium on Fluid Power, Transmission and Control (ISFP’03), Eds. Li Zhuangyun, Z. Yuquan, L. Baoren, International Academic Publishers, (Cina), 2003, pp.261-266.

  10. Figliolini G., Rea P., Principe M., “Mechatronic design of Ca.U.M.Ha (Cassino-Underactuated-Multifinger-Hand)”, 12th Workshop on Robotics and Alpe-Adria-Danube Region (RAAD'03), Cassino, 2003, paper: 026RAAD03.

  11. Figliolini G., Rea P., “Experimental test-bed for analyzing pneumatic digital valves”, Second International Congress on Mechatronics (MECH2K3), Graz (Austria), 2003.

  12. Figliolini G., Ceccarelli M., Di Gioia M., “Descending stairs with EP-WAR3 biped robot”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'03), Kobe (Giappone), 2003, pp.747-752.

  13. Figliolini G., Sorli M., “Experimental investigation on a proportional flow valve”, Seventh Triennial International Symposium on Fluid Control, Measurement and Visualization (FLUCOME’03), Sorrento (Italia), 2003, paper n.169.

  14. Figliolini G., “Modellazione, simulazione e sperimentazione di dispositivi e sistemi pneumatici innovativi”, Oleodinamica & Pneumatica, Agosto 2003, pp.58-67.

  15. Sorli M., Figliolini G., Pastorelli S., “Modeling and experimental validation of a two-way pneumatic digital valve”, Bath Workshop on Power Transmission & Motion Control (PTCM2003), Eds. C.R. Barrows and K.A. Edge, Professional Engineering Publishing, London (UK), 2003, pp.291-305.

  16. Figliolini G., Ceccarelli M., “Novel binary pneumatic actuation for EP-WAR3 biped robot”, 6th International Conference on Climbing and Walking Robots (CLAWAR2003), Eds. G. Muscato and D. Longo, Professional Engineering Publishing, London (UK), 2003, pp.853-860.

  17. Figliolini G., Rea P., “Ca.U.M.Ha. robotic hand for harvesting horticulture products”, XXX CIOSTA - CIGRV Congress on Management and Technology Applications to Empower and Agro-Food Systems, Torino, 2003, pp.288-295.

  18. Ottaviano E., Carbone G., Ceccarelli M., “Workspace Analysis and Performances of a Binary Actuated Parallel Manipulator with Flexural Joints”, Journal of Mechanical Engineering Science, 2003, Vol. 217, pp. 313-330.

  19. Ottaviano E., Carbone G., “A Procedure for the Multiobjective Design of Parallel Manipulators”, 12th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD 2003, Cassino, 2003, CD Proceedings, Paper 061RAAD03.

  20. Ottaviano E., Ceccarelli M., Thomas F., “Singularity Configurations of a 6-Wire Parallel Architecture”, 12th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD 2003, Cassino, 2003, CD Proceedings, Paper 007RAAD03.

  21. Thomas F., Ottaviano E., Ros L., Ceccarelli M., “Coordinate-free Formulation of a 3-2-1 Wire-based Tracking Device using Cayley-Menger Determinants”, Proceedings of the IEEE International Conference on Robotics and Automation ICRA03, Taipei, 2003, pp.355-361.

  22. Ceccarelli M., Ottaviano E., “Design Problems for Parallel Manipulators in Assembling Operations”, Keynote Lecture, IFAC Workshop in Intelligent Assembly and Disassembly IAD03, Bucarest, 2003, pp. 13-26.

  23. Carbone G., Ottaviano E., Acevedo M., Ceccarelli M., “Validación Experimental del Modelo Dinámico del Manipulador Parallelo Capaman 2”, VI Congreso Iberoamericano de Ingeniería Mecánica CIBEM 6, Coimbra, pp.869-874, 2003.

  24. Aguirre G., Acevedo M., Carbone G., Ottaviano E., “Kinematic and Dynamic Analyses of a 3 DOF Parallel Manipulator by Symbolic Formulations”, Proceedings of ECCOMAS Thematic Conference on Advances in Computational Multibody Dynamics 2003, Lisbon, 2003, CD Proceedings, Paper MB2003-010.

  25. Penisi O., Ceccarelli M., Carbone G., “Clasificacion de Mecanismos en Pinzas Industriales de Dos Dedos”, Revista Iberoamericana de Ingenierìa Mecànica, vol.7, n.1, pp.59-75, 2003.

  26. Acevedo M., Carbone G., Aguilar M.F., Ceccarelli M., “Simulación de una Pinza Controlada en Fuerza Empleando Simulink”, Revista Iberoamericana de Ingenierìa Mecànica, vol.7, n.1, pp.77-85, 2003.

  27. Carbone G., Sugahara Y., Lim H.O., Takanishi A., Ceccarelli M., “Stiffness Performances Estimation for Biped Locomotor WL-15”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 03, Kobe, pp.956-961, 2003.

  28. Carbone G., Lim H.O., Takanishi A., Ceccarelli M., “Numerical and Experimental Estimation of Stiffness Performances for the Humanoid Robot WABIAN-RV”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 03, Kobe, pp.962-967, 2003.

  29. Carbone G., Takanobu H., Ceccarelli M., Takanishi A., Ohtsuki K., Ohnishi M., Okino A., “Stiffness Analysis for the 6-Dofs Mouth Training Parallel Robot WY-5”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 03, Kobe, pp.1234-1238, 2003.

  30. Carbone G., Lim H.O., Takanishi A., Ceccarelli M., “Stiffness Analysis of the Humanoid Robot WABIAN-RIV: Modelling”, IEEE International Conference on Robotics and Automation ICRA 2003, Taipei, pp.3654-3659, 2003.

  31. Carbone G., Ceccarelli M., Ogura Y., Lim H.O., Takanishi A., Numerical Simulation for an Optimum Design of a Humanoid Leg Through Stiffness Analysis”, 3rd IEEE International Conference on Humanoid Robots HUMANOIDS2003, München and Karlsruhe, paper 3bWalking03, 2003.

  32. Carbone G., Teolis M., Ceccarelli M., Ottaviano E., “An Experimental Performance Evaluation of a Parallel-Serial Manipulator”, International Journal of Mechanics and Control, vol.04, n.01, pp.29-39, 2003.

 2004

  1. Carbone G., Ogura Y., Lim H.O., Takanishi A., Ceccarelli M., "Dynamic Simulation and Experiments for the Design of a New Biped Walking Leg Module", Robotica: An International Journal, vol.22, n.1, pp.41-50, 2004.

  2. Ceccarelli M.., Lanni C., “Multi.Objective Optimum Design of General 3R Manipulators for Prescribed Workspace Limits”, Mechanism and Machine Theory, Vol. 39, N.2, pp.119-132, 2004.

  3. Saramago S.F.P., Ceccarelli M., Effect of Numerical Parameters on a Path Planning of Robots Taking into account Actuating Energy, Mechanism and Machine Theory, 2004, Vol. 39, N.3, pp. 247-270.

  4. Carbone G., Ogura Y., Lim H.O., Takanishi A., Ceccarelli M., "Dynamic Simulation and Experiments for the Design of a New Biped Walking Leg Module", Robotica: An International Journal, vol.22, n.1, pp.41-50, 2004.

  5. Ceccarelli G., Ottaviano E., Carbone G., "Progettazione e validazione sperimentale di camme a profilo policentrico presso il LARM di Cassino", Workshop 2004 del progetto PRIN "Progettazione e validazione di sistemi di trasmissione a camma", Cassino, Articolo PRIN-CAMS2004-01, 2004.

  6.  Lanni C., Bianchi A., Carbone G., Ceccarelli M., "Numerical and Experimental Performance Analysis of Cam Profile in Two-Circular-Arc Cams", 11th World Congress in Mechanism and Machine Science IFToMM 03, Tianjin, Vol.3, pp.1060-1064, 2004.

  7.  Carbone G., Ottaviano E., Ceccarelli M., "Experimental Stiffness Evaluation of a Serial-Parallel Macro-Milli Manipulator for Medical Applications", 11th World Congress in Mechanism and Machine Science IFToMM 03, Tianjin, Vol.4, pp.1862-1867, 2004.

  8.  Acevedo M., Aguirre G., Carbone G., Ottaviano E., "A Dynamics Simulation of a 3 Dof Parallel Manipulator", 11th World Congress in Mechanism and Machine Science IFToMM 03, Tianjin, Vol.4, pp.1674-1678, 2004.

  9. Ottaviano E., Lanni C., Ceccarelli M., “Numerical and Experimental Analysis of a Pantograph-Leg with a Fully-Rotative Actuating Mechanism”, IFToMM2004, Proceedings of the 11th World Congress in Mechanism and Machine Science, pp.1537-1541, 2004.

  10. Sorli M., Figliolini G., Pastorelli S., “Dynamic Model and Experimental Investigation of a Pneumatic Proportional Pressure Valve”, IEEE/ASME Transactions on Mechatronics, 2004, Vol.9, No.1, pp.78-86.

  11. Figliolini G., Penisi O.H., “Experimental Analysis of the Static and Dynamic Performances of a Two-Finger Gripper”, Eleventh IFToMM World Congress in Mechanism and Machine Science, Tianjin, (Cina), 2004, Vol.4, pp.1932-1936.

  12.  Figliolini G., “Application of the Dual Algebra to the Synthesis of Skew Gears”, 5th IDMME International Conference on Integrated Design and Manufacturing in Mechanical Engineering, Bath (UK), 2004.

  13. Ceccarelli M., “Evolution of TMM (Theory of Machines and Mechanisms) to MMS (Machine and Mechanism Science): An Illustration Survey”, Keynote Lecture, 11th IFToMM World Congress in Mechanism and Machine Science, 2004, Tianjin, 2004, pp.13-24.

  14.  Lopez-Cajun C.S., Cuadrado Iglesias J.I., Ceccarelli M., “Early Modern Activity on TMM by Lanz and Betancourt before 1830”, 11th IFToMM World Congress in Mechanism and Machine Science, 2004, Tianjin, 2004, pp.939-943, 2004.