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Giovanni Berselli
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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
Journal Articles

Nonlinear Analysis of a Class of Inversion-Based Compliant Cross-Spring Pivots

Shiyao Li, Guangbo Hao, Yingyue Chen, Jiaxiang Zhu, Giovanni Berselli
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031007.
Paper No: JMR-21-1275
DOI: https://doi.org/10.1115/1.4052514
Published Online: November 18, 2021
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Topics: Design, Rotation, Springs, Stress, Stiffness, Finite element analysis
Proceedings Papers

Nonlinear Analysis of a Class of Inversion-Based Compliant Cross-Spring Pivots

Shiyao Li, Guangbo Hao, Yingyue Chen, Jiaxiang Zhu, Giovanni Berselli
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A011, August 17–19, 2021
Paper No: DETC2021-69028
DOI: https://doi.org/10.1115/DETC2021-69028
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Topics: Springs, Stress
Proceedings Papers

3D Printed Resonant Compliant Mechanism to Reduce Motor Torque Requirements of Machines With Cyclic Operation

Luca Luzi, Amedeo Carloni, Lorenzo Agostini, Riccardo Pucci, Mohamed Refat, Giovanni Berselli, Rocco Vertechy
Proc. ASME. SMASIS2021, ASME 2021 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T07A012, September 14–15, 2021
Paper No: SMASIS2021-68293
DOI: https://doi.org/10.1115/SMASIS2021-68293
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Topics: Additive manufacturing, Compliant mechanisms, Engines, Fibers, Machinery, Motors, Optimization, Resonance, Topology, Torque
Proceedings Papers

Fused Filament Fabrication of Continuous Fiber-Reinforced Thermoplastics for Compliant Mechanisms

Mohamed Refat, Luca Luzi, Lorenzo Agostini, Riccardo Pucci, Giovanni Berselli, Rocco Vertechy
Proc. ASME. SMASIS2021, ASME 2021 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T07A015, September 14–15, 2021
Paper No: SMASIS2021-68331
DOI: https://doi.org/10.1115/SMASIS2021-68331
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Topics: Additive manufacturing, Compliant mechanisms, Composite materials, Fibers, Manufacturing
Proceedings Papers

Additively Manufactured Continuous Fibre-Reinforced Thermoplastics for Mechanisms Subjected to Predominant Inertial Load: A Case Study

Luca Luzi, Giacomo Quercioli, Riccardo Pucci, Guido Bocchieri, Rocco Vertechy, Giovanni Berselli
Proc. ASME. SMASIS2020, ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T03A009, September 15, 2020
Paper No: SMASIS2020-2320
DOI: https://doi.org/10.1115/SMASIS2020-2320
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Topics: Additive manufacturing, Fibers, Optimization, Stress, Topology
Journal Articles

Zero Torque Compliant Mechanisms Employing Pre-buckled Beams

Pietro Bilancia, Samuel P. Smith, Giovanni Berselli, Spencer P. Magleby, Larry L. Howell
Journal: Journal of Mechanical Design
Article Type: Research Papers
J. Mech. Des. November 2020, 142(11): 113301.
Paper No: MD-19-1837
DOI: https://doi.org/10.1115/1.4046810
Published Online: May 21, 2020
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Topics: Design, Finite element analysis, Optimization, Torque, Engineering prototypes, Springs, Deflection, Stiffness, Compliant mechanisms, Shapes
Proceedings Papers

On the Design of a Long-Stroke Beam-Based Compliant Mechanism Providing Quasi-Constant Force

Pietro Bilancia, Alessandro Geraci, Giovanni Berselli
Proc. ASME. SMASIS2019, ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T03A001, September 9–11, 2019
Paper No: SMASIS2019-5519
DOI: https://doi.org/10.1115/SMASIS2019-5519
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Topics: Compliant mechanisms, Design, Deflection, Dimensions, Shapes, Bending (Stress), Computer software, Control algorithms, Design methodology, Engineering prototypes
Proceedings Papers

Design of a Beam-Based Variable Stiffness Actuator via Shape Optimization in a CAD/CAE Environment

Pietro Bilancia, Giovanni Berselli, Umberto Scarcia, Gianluca Palli
Proc. ASME. SMASIS2018, Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation, and Control of Adaptive Systems; Integrated System Design and Implementation, V001T03A013, September 10–12, 2018
Paper No: SMASIS2018-8053
DOI: https://doi.org/10.1115/SMASIS2018-8053
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Topics: Actuators, Computer-aided design, Computer-aided engineering, Design, Shape optimization, Stiffness, Robots, Compliant mechanisms, Safety, Additive manufacturing
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
Proceedings Papers

An Experimental Assessment of the Thermo-Elastic Response in Acrylic Elastomers and Natural Rubbers for Application on Electroactive Polymer Transducers

Giovanni Berselli, Rocco Vertechy, Marco Fontana, Marcello Pellicciari
Proc. ASME. SMASIS2014, Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Structural Health Monitoring; Keynote Presentation, V001T03A027, September 8–10, 2014
Paper No: SMASIS2014-7604
DOI: https://doi.org/10.1115/SMASIS2014-7604
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Topics: Conducting polymers, Elastomers, Natural rubber, Thermoelasticity, Transducers, Databases, Temperature, Active materials, Actuators, Dielectric materials
Journal Articles

Design of a Dielectric Elastomer Cylindrical Actuator With Quasi-Constant Available Thrust: Modeling Procedure and Experimental Validation

Giovanni Berselli, Giovanni Scirè Mammano, Eugenio Dragoni
Journal: Journal of Mechanical Design
Article Type: Design Innovation Paper
J. Mech. Des. December 2014, 136(12): 125001.
Paper No: MD-14-1107
DOI: https://doi.org/10.1115/1.4028277
Published Online: October 20, 2014
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Topics: Actuators, Design, Thrust
Proceedings Papers

Design and Modeling of a Dielectric Elastomer Cylindrical Actuator With Quasi-Constant Available Thrust

Giovanni Berselli, Giovanni Scirè Mammano, Eugenio Dragoni
Proc. ASME. SMASIS2013, Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation, V001T03A041, September 16–18, 2013
Paper No: SMASIS2013-3266
DOI: https://doi.org/10.1115/SMASIS2013-3266
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Topics: Actuators, Design, Elastomers, Modeling, Thrust, Accounting, Buckling, Compliant mechanisms, Deflection, Finite element analysis
Proceedings Papers

On the Control of a Dielectric Elastomer Artificial Muscle With Variable Impedance

Gianluca Palli, Giovanni Berselli
Proc. ASME. SMASIS2013, Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation, V001T03A042, September 16–18, 2013
Paper No: SMASIS2013-3267
DOI: https://doi.org/10.1115/SMASIS2013-3267
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Topics: Elastomers, Muscle, Actuators, Biomimetics, Control equipment, Damping, Dielectric materials, Engineering simulation, Shapes, Simulation
Proceedings Papers

An Improved Method for Designing Flexure-Based Nonlinear Springs

Qiaoling Meng, Giovanni Berselli, Rocco Vertechy, Vincenzo Parenti Castelli
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 211-219, August 12–15, 2012
Paper No: DETC2012-70367
DOI: https://doi.org/10.1115/DETC2012-70367
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Topics: Bending (Stress), Design, Springs, Hinges, Deflection, Finite element analysis, Modeling, Stress, Approximation, Compliant mechanisms
Proceedings Papers

Implementation of a Variable Stiffness Actuator Based on Dielectric Elastomers: A Feasibility Study

Giovanni Berselli, Rocco Vertechy, Mitja Babič, Vincenzo Parenti Castelli
Proc. ASME. SMASIS2012, Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Structural Health Monitoring, 497-506, September 19–21, 2012
Paper No: SMASIS2012-8144
DOI: https://doi.org/10.1115/SMASIS2012-8144
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Topics: Actuators, Elastomers, Stiffness, Sensors, Accounting, Control algorithms, Control equipment, Deformation, Design, Force sensors
Proceedings Papers

Object-Oriented Modeling of Industrial Manipulators With Application to Energy Optimal Trajectory Scaling

Marcello Pellicciari, Giovanni Berselli, Francesco Leali, Alberto Vergnano, Bengt Lennartson
Proc. ASME. IDETC-CIE2011, Volume 5: 37th Design Automation Conference, Parts A and B, 997-1006, August 28–31, 2011
Paper No: DETC2011-48390
DOI: https://doi.org/10.1115/DETC2011-48390
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Topics: Manipulators, Modeling, Trajectories (Physics), Energy consumption, Design, Dynamics (Mechanics), Flow (Dynamics), Manufacturing, Manufacturing systems, Optimization
Proceedings Papers

Bond Graph Modeling and Simulation of a Constant-Force Dielectric Elastomer Actuator

Giovanni Berselli, Gabriele Vassura
Proc. ASME. SMASIS2011, ASME 2011 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, Volume 2, 179-188, September 18–21, 2011
Paper No: SMASIS2011-5027
DOI: https://doi.org/10.1115/SMASIS2011-5027
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Topics: Actuators, Elastomers, Modeling, Simulation, Computer simulation, Design, Engineering instruments, Mechanical properties
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

On Designing Structured Soft Covers for Robotic Limbs With Predetermined Compliance

Giovanni Berselli, Marco Piccinini, Gabriele Vassura
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 165-174, August 15–18, 2010
Paper No: DETC2010-28965
DOI: https://doi.org/10.1115/DETC2010-28965
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Topics: Design, Robotics, Compression, Biological tissues, Finite element methods, Finite element model, Microbeams, Numerical analysis, Shapes, Skin