Ricerca CERCA

Flexible Systems Development to Control the Elastic Deformation

azienda Thesis in external company    


Reference persons ALESSANDRO RIZZO

External reference persons Dr. Ferdinando Cannella (AIAL-IIT), Dr. Mariapaola D'Imperio (AIAL-IIT)



Description Description: In these years, we are in the midst of a fourth wave of technological advancement: the rise of new digital industrial technology known as Industry 4.0, a transformation that makes possible to gather and analyse data across machines, enabling faster, more flexible and more efficient processes to produce higher-quality goods at reduced costs. This new era of digital enterprise is based on nine technology advances [1], in particular on data collecting from humans and machines for robotic numerical modelling and simulation (for machine design, for product development, for manufacturing process, for value chain management, etc.) and on autonomous robots (to improve both the flexibility and the machine-human collaboration). It’s matter of fact that two of the ultimate basic ideas of the Industrial 4.0 are:
1) the Digital Twin, that is an exact copy (numerical model) of the physical mock-up and that permits to the machine designers to exploit the power of digitalization to achieve improved efficiency and quality;
2) the collaborative robot that should interact with worker in the process lines, both from safety point of view and, at same time, dealing with more complex and heavy task (i.e. sawing, hammering, drilling, milling, etc.) that requires high compliance and impact energy dumping.
Nevertheless, the current industrial robots are still not flexible (i.e. to high mix low volume manufacturing) nor adaptive (to the machine-human collaboration) yet.
In this scenario a new robotic design approach should be developed in order to quickly deploy both the robotic flexibility and adaptivity into robotic manufacturing systems (which may include also multiple arm or robots, multiple sensors and related machines). Following this idea, a Master Thesis is here proposed with the following goals:
• control a 3 dof Flexible Leg (FlegX-3) with and elastic link (the foot);
• develop a FlegX-3 Digital Twin improving the current virtual prototyping development (co-simulation with control and flexible multi-body)
• assembly the physical prototype of FlegX-3
• validate the numerical results with the physical ones.
The research is carried out within the AIAL (Advanced Industrial Automation Lab is within Advanced Robotics Department where the innovative, multidisciplinary approach to complex systems (i.e. manipulators, leg, inspection robots) design and control, and the development of novel robotic components and technologies are addressed to the industrial needs), in strictly collaboration with the DIC (the Dynamic Interaction Control activities aim at endowing humanoids with advanced action and physical interaction capabilities) and under the supervision of DET (Dipartimento di Elettronica e Telecomunicazioni of Politecnico di Torino that aims to improve the new control systems for research and industrial applications).

• D’Imperio, M., Pizzamiglio, C., Ludovico, D., Caldwell, D.G., Genta, G., Cannella, F., “Advanced modelling techniques for flexible robotic systems” (2018) Mechanisms and Machine Science, 49, pp. 381-388.
• D'Imperio, Mariapaola, et al. "FLEGX: a bioinspired design for a jumping humanoid leg." Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on. IEEE, 2017.
• Pucci D., *Romano F., *Nori F., Collocated Adaptive Control of Underactuated Mechanical Systems (2015) IEEE Transactions on Robotics, vol. 31, (no. 6), pp. 1527 - 1536, 1552-3098
• Franchi A; Petitti A; Rizzo A; Di Paola D (2015) A Distributed Method for Estimating the Grasping and Inertial Parameters in Cooperative Manipulation, In: Proceeding of Robotics: Science and Systems Robotics: Science and Systems, Roma, Italy July 13-17, 2015
• http://www.maxwellsci.com/print/rjas

Required skills Requirements: this position is open to a Master Student candidate should be enthusiastic, with strong interesting in bio-inspired mechanism and skill in computer science; moreover the robotic modelling will be valuable. The ideal competencies should be in control with strong programing skill, especially program using C++ under Linux. The background must have also robotics with skill in using of flexible multi-body simulators (i.e. MSC.ADAMS, NASTRAN, MARC, etc.).
Required technical skills: 70% control, 30% Mechanism.

Notes Extensive periods must be spent at the AIAL Lab - Italian Institute of Technology in Genova
Contacts: ferdinando.cannella@iit.it, mariapaola.dimperio@iit.it, daniele.pucci@iit.it, alessandro.rizzo@polito.it

Deadline 26/10/2018      PROPONI LA TUA CANDIDATURA