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Micromachines
Special Issues
Sustainable and Reconfigurable Machines for Mini and Micro-Applications
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Sustainable and Reconfigurable Machines for Mini and Micro-Applications

A special issue of Micromachines (ISSN 2072-666X). This special issue belongs to the section "A：Physics".

Deadline for manuscript submissions: closed (30 June 2020) | Viewed by 5717

Special Issue Editors

Dr. Alberto Borboni

E-Mail Website
Guest Editor
Department of Mechanical and Industrial Engineering, Università degli Studi di Brescia, 25121 Brescia, Italy
Interests: applied mechanics; robotics; design engineering; physical rehabilitation; engineering; mechatronics
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Riccardo Adamini

E-Mail Website
Guest Editor
Department of Mechanical and Industrial Engineering, Università degli Studi di Brescia, Brescia, Italy
Interests: robotics; micromanipulation; mechanical design; vibration

Special Issue Information

Dear Colleagues,

The need for performances improvement and systems optimization remains an urgency in a wide variety of industrial and scientific fields. This need increases especially in mini and micro applications, in which high precisions and accuracies are required, and the instrumental obsolescence can negatively influence the system performance.

According to a sustainable rationale, currently operating systems can be improved thanks to the integration of innovative devices, or the adoption of machine flexible add-ons. Those systems can compensate for instance obsolescence effects such as friction wear and tear and backlashes, with modular or reconfigurable attachments, or simply assure better and reliable performance to actual devices.

Therefore, this Special Issue aims to investigate technical and methodological advances and innovations in performance enhancement of machines for micro and mini applications: Research papers, short communications, and review articles are welcome.

Prof. Dr. Alberto Borboni
Prof. Dr. Riccardo Adamini
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Micromachines is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • Sustainable systems
  • Modular and reconfigurable devices
  • Performance improvement and optimization
  • Machine revamping

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Published Papers (2 papers)

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Research

14 pages, 14832 KiB  
Article
The Robot Selection Problem for Mini-Parallel Kinematic Machines: A Task-Driven Approach to the Selection Attributes Identification
by Cinzia Amici, Nicola Pellegrini and Monica Tiboni
Micromachines 2020, 11(8), 711; https://doi.org/10.3390/mi11080711 - 22 Jul 2020
Cited by 14 | Viewed by 3049
Abstract
In the last decades, the Robot Selection Problem (RSP) has been widely investigated, and the importance of properly structuring the decision problem has been stated. Crucial aspect in this process is the correct identification of the robot attributes, which should be limited in [...] Read more.
In the last decades, the Robot Selection Problem (RSP) has been widely investigated, and the importance of properly structuring the decision problem has been stated. Crucial aspect in this process is the correct identification of the robot attributes, which should be limited in number as much as possible, but should be also able to detect at best the peculiar requirements of specific applications. Literature describes several attributes examples, but mainly dedicated to traditional industrial tasks, and applied to the selection of conventional industrial robots. After a synthetic review of the robot attributes depicted in the RSP literature, presented with a custom taxonomy, this paper proposes a set of possible requirements for the selection problem of small scale parallel kinematic machines (PKMs). The RSP is based on a task-driven approach: two mini-manipulators are compared as equivalent linear actuators to be integrated within a more complex system, for the application in both an industrial and a biomedical environment. The set of identified criteria for the two environments is proposed in the results and investigated with respect to working conditions and context in the discussion, emphasizing limits and strength points of this approach; finally, the conclusions synthesizes the main results. Full article
(This article belongs to the Special Issue Sustainable and Reconfigurable Machines for Mini and Micro-Applications)
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9 pages, 2712 KiB  
Article
Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications
by Francesco Aggogeri, Cinzia Amici and Nicola Pellegrini
Micromachines 2020, 11(2), 141; https://doi.org/10.3390/mi11020141 - 28 Jan 2020
Cited by 1 | Viewed by 2155
Abstract
This study compares a set of strategies to plan and control the trajectory of a robotic device in a planar workspace. These strategies are based on an affective application of jerk-laws able to indicate undesirable conditions (e.g., vibrations) facilitating the device control. The [...] Read more.
This study compares a set of strategies to plan and control the trajectory of a robotic device in a planar workspace. These strategies are based on an affective application of jerk-laws able to indicate undesirable conditions (e.g., vibrations) facilitating the device control. The jerk is the time derivative of acceleration, and this solution provides an indirect means to control the variation rate of the actuator torques, while avoiding the complex robot dynamic models and their algorithms for computing the dynamics. In order to obtain a smooth trajectory, a regulator to control a robotic device has been developed and validated. It consists of the implementation of two control modules able to (i) generate the predefined trajectory and (ii) guarantee the path tracking, reducing unwanted effects. In this case a simple S-shaped path has been originated by the “trajectory generator module” as a reference movement to rehabilitate upper limb functionality. The numerical simulation and the results of preliminary tests show the efficacy of the proposed approach through the vibration smoothness appraisal associated with the motion profile. Full article
(This article belongs to the Special Issue Sustainable and Reconfigurable Machines for Mini and Micro-Applications)
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