Matteo Verotti

Bio: Matteo Verotti is an academic researcher from Sapienza University of Rome. The author has contributed to research in topics: Compliant mechanism & Isotropy. The author has an hindex of 17, co-authored 45 publications receiving 741 citations. Previous affiliations of Matteo Verotti include Canadian Real Estate Association & University of Genoa.

Performance Analysis of Compliant MEMS Parallel Robots Through Pseudo-Rigid-Body Model Synthesis

Abstract: In this paper, the performance of compliant parallel manipulators, in a given working position, is evaluated in terms of the MA (mechanical advantage) and k(J) (kinematic condition number). Such evaluation is done by means of a new and fast method for direct kinematic analysis of parallel manipulators. The method, which is useful to enhance both the design synthesis and the control strategy, is applied on the so called pseudo-rigid body mechanism, which represents a simplification of its corresponding compliant mechanism. Computer codes have been developed in MatLab programming language. The case under study consists of a MEMS (Micro Electro Mechanical System) compliant robot that has been built by the research group in silicon for micromanipulation. Such MEMS robot could be designed thanks to a new flexural hinge concept. Some experimental tests have been carried out on sample prototypes in order to inquire about the real feasibility of the micro-robot.Copyright © 2012 by ASME

Isotropy in any RR planar dyad under active joint stiffness regulation

Abstract: The present investigation is dedicated to the study of the static balance at the tip of a planar RR robot. For this case, a configuration can be interpreted, in the static sense, as isotropic when any force applied to the robot wrist yields a small displacement which is theoretically parallel to the applied force (no matter how the force is directed on the plane). This characteristic offers many advantages and is considered as an optimal design goal. Unfortunately, the conditions to achieve such property in RR manipulators are very restrictive, and until now, only one solution is adopted, with a fixed lengths ratio. The present paper reveals how any RR planar robot can achieve isotropy at the tip by using a feedback action at the joints to gain arbitrary elastic coefficients. The new approach of design brings to less restrictive conditions than the previous ones.

An Approach to the Extreme Miniaturization of Rotary Comb Drives

Abstract: The evolution of microelectronic technologies is giving constant impulse to advanced micro-scaled systems which perform complex operations. In fact, the actual micro and nano Electro-Mechanical Systems (MEMS/NEMS) easily integrate information-gathering and decision-making electronics together with all sorts of sensors and actuators. Mechanical manipulation can be obtained through microactuators, taking advantage of magnetostrictive, thermal, piezoelectric or electrostatic forces. Electrostatic actuation, more precisely the comb-drive approach, is often employed due to its high versatility and low power consumption. Moreover, the device design and fabrication process flow can be simplified by compliant mechanisms, avoiding complex elements and unorthodox materials. A nano-scaled rotary comb drive is herein introduced and obtained using NEMS technology, with an innovative design which takes advantages of the compliant mechanism characteristics. A theoretical and numerical study is also introduced to inspect the electro-mechanical behavior of the device and to describe a new technological procedure for its fabrication.

Grasping and Releasing Agarose micro Beads in Water Drops

Abstract: The micromanipulation of micro objects is nowadays the focus of several investigations, specially in biomedical applications. Therefore, some manipulation tasks are required to be in aqueous environment and become more challenging because they depend upon observation and actuation methods that are compatible with MEMS Technology based micromanipulators. This paper describes how three grasping-releasing based tasks have been successfully applied to agarose micro beads whose average size is about 60 μ m: (i) the extraction of a single micro bead from a water drop; (ii) the insertion of a single micro bead into the drop; (iii) the grasping of a single micro bead inside the drop. The success of the performed tasks rely on the use of a microgripper previously designed, fabricated, and tested.

Some Basic Problems Of The Mathematical Theory Of Elasticity

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Mechanics and electrochemistry of ionic polymer metal composites

Abstract: Ionic polymer metal composites (IPMCs) are electroactive materials composed of a hydrated ionomeric membrane that is sandwiched between noble metal electrodes. Here, we propose a modeling framework to study quasi-static large deformations and electrochemistry of IPMCs. Specifically, IPMC kinematics is described in terms of its mechanical deformation, the concentration of mobile counterions neutralizing the ionomer, and the electric potential. The chemoelectromechanical constitutive behavior is obtained from a Helmholtz free energy density, which accounts for mechanical stretching, ion mixing, and electric polarization. The three-dimensional framework is specialized to plane bending of thin IPMCs. Hence, we propose a structural model, where the moment and the charge stored along the IPMC are computed from the solution of a modified Poisson–Nernst–Planck system, in terms of the through-the-thickness coordinate. For small static deformations, we present a semianalytical solution based on the method of matched asymptotic expansions, which is ultimately used to study IPMC sensing and actuation. We demonstrate that the linearity of IPMC actuation in a broad voltage range could be attributed to the interplay of two competing nonlinear phenomena, associated with Maxwell stress and osmotic pressure. In agreement with experimental observations, our model confirms the possibility of tailoring IPMC actuation by varying the counterion size and the concentration of fixed ions. Finally, the model is successful in predicting the significantly different voltage levels displayed by IPMC sensors and actuators, which are associated with remarkable variations in the ion mixing and polarization energies.

Robotic Micromanipulation: Fundamentals and Applications

Abstract: Robotic micromanipulation is a relatively young field. However, after three decades of development and evolution, the fundamental physics; techniques for sensing, actuation, and control; tool sets ...