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Claudio Melchiorri
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Proceedings Papers

Mechatronic Design and Physical Prototyping of a Three-Fingered Gripper for Underwater Manipulation

Mario Baggetta, Giovanni Berselli, Gianluca Palli, Claudio Melchiorri
Proc. ASME. SMASIS2022, ASME 2022 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T03A014, September 12–14, 2022
Paper No: SMASIS2022-92010
DOI: https://doi.org/10.1115/SMASIS2022-92010
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Topics: Design, Grippers, Autonomous underwater vehicles, Tendons, Degrees of freedom, Dimensions, Engineering prototypes, Mechanical structures, Mechatronics, Robotics
Proceedings Papers

Optimal Design of 3D Printed Spiral Torsion Springs

Umberto Scarcia, Giovanni Berselli, Claudio Melchiorri, Manuele Ghinelli, Gianluca Palli
Proc. ASME. SMASIS2016, Volume 2: Modeling, Simulation and Control; Bio-Inspired Smart Materials and Systems; Energy Harvesting, V002T03A020, September 28–30, 2016
Paper No: SMASIS2016-9218
DOI: https://doi.org/10.1115/SMASIS2016-9218
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Topics: Additive manufacturing, Design, Springs, Torsion, Manufacturing, Manipulators, Alloy steel, Carbon, Chain, Deflection
Journal Articles

Design of a Variable Stiffness Actuator Based on Flexures

Gianluca Palli, Giovanni Berselli, Claudio Melchiorri, Gabriele Vassura
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2011, 3(3): 034501.
DOI: https://doi.org/10.1115/1.4004228
Published Online: July 19, 2011
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Topics: Actuators, Design, Stiffness, Engineering prototypes, Deflection, Human-robot interaction, Hinges, Torque, Optimization
Proceedings Papers

Design and Modeling of Variable Stiffness Joints Based on Compliant Flexures

Gianluca Palli, Claudio Melchiorri, Giovanni Berselli, Gabriele Vassura
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1069-1078, August 15–18, 2010
Paper No: DETC2010-28425
DOI: https://doi.org/10.1115/DETC2010-28425
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Topics: Design, Modeling, Stiffness, Robots, Collisions (Physics), Deflection, Human-robot interaction, Motion control, Vacuum
Proceedings Papers

Nonlinear Modeling and Experimental Identification of Hemispherical Soft Pads for Robotic Manipulators

Paolo Tiezzi, Gabriele Vassura, Luigi Biagiotti, Claudio Melchiorri
Proc. ASME. IDETC-CIE2005, Volume 1: 20th Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C, 363-372, September 24–28, 2005
Paper No: DETC2005-85659
DOI: https://doi.org/10.1115/DETC2005-85659
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Topics: Biological tissues, Filters, Manipulators, Modeling, Robotics, Rubber, Silicon, Urethane elastomers