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Determination of Remote Center of Compliance for Soft Actuators

Stefano Bottero

Determination of Remote Center of Compliance for Soft Actuators.

Rel. Giovanni Gerardo Muscolo, Carlo Ferraresi. Politecnico di Torino, Corso di laurea magistrale in Ingegneria Meccanica, 2020


This thesis deals with the concept of remote centre of compliance (RCC) in a variable stiffness system. Starting from a novel linear pneumatic actuator in which membranes act as elastic elements, a study was conducted in order to find the position of the RCC when an asymmetry condition is realised. This is obtained by giving a vertical displacement to the piston. Several FEM simulations of the behaviour of the system were carried out and a first formulation able to describe RCC's trend in a certain pressure range has been found. Finally, a comparison between theoretical model and experimental results is presented.

Relators: Giovanni Gerardo Muscolo, Carlo Ferraresi
Academic year: 2019/20
Publication type: Electronic
Number of Pages: 82
Additional Information: Tesi secretata. Fulltext non presente
Corso di laurea: Corso di laurea magistrale in Ingegneria Meccanica
Classe di laurea: New organization > Master science > LM-33 - MECHANICAL ENGINEERING
Aziende collaboratrici: UNSPECIFIED
URI: http://webthesis.biblio.polito.it/id/eprint/15513
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