Author
Terenziano Raparelli
Other affiliations: University of L'Aquila
Bio: Terenziano Raparelli is an academic researcher from Polytechnic University of Turin. The author has contributed to research in topics: Fluid bearing & Pneumatic cylinder. The author has an hindex of 19, co-authored 172 publications receiving 1200 citations. Previous affiliations of Terenziano Raparelli include University of L'Aquila.
Papers published on a yearly basis
Papers
More filters
TL;DR: In this article, an experimental study conducted in order to determine the supply hole discharge coefficients of externally pressurized gas bearings was conducted, where air consumption and pressure distributions were measured as a function of supply pressure and air gap height for several different orifice and pocket sizes.
120 citations
TL;DR: In this article, the behavior of an elastomeric seal for a pneumatic cylinder piston is analyzed using a finite element model, and the simulation results obtained from experimental tests and numerical simulation are compared to determine the friction force between seal and cylinder bore.
54 citations
TL;DR: In this article, the effect of a circumferential groove machined on the pad surface on pressure distribution, air flow consumption and stiffness was analyzed and compared with two geometries: one with three supply orifices and the other with a circular groove as well.
Abstract: The demand of air bearings is increasing for those applications that require precision linear movements or high-speed rotations. In particular in this paper air pads for air motion technology are studied. The paper analyses the effect of a circumferential groove machined on the pad surface on pressure distribution, air flow consumption and stiffness. Two geometries are investigated and compared: one with three supply orifices and the other with a circumferential groove as well. The static characteristics of the pads are experimentally determined with also the pressure distributions under the pads along the radial and circumferential directions. The experimental pressure distributions are compared with the simulated ones, obtained with a numerical program at the purpose developed. The numerical model considers a general formulation of the supply holes discharge coefficient that can be used also in presence of a circumferential groove.
44 citations
TL;DR: In this article, the authors describe a test rig and first experimental data regarding the mechanical and thermal behavior of a 7 kg rotor, 460 mm long and with a diameter of 50 mm, supported by externally-pressurized air-lubricated bearings.
44 citations
TL;DR: The McKibben muscle as mentioned in this paper is made of an inner hyper-elastic tube, surrounded by a braided shell made of inextensible threads; both ends provide elasticity.
Abstract: The McKibben muscle belongs to the type of muscles known as braided muscles. It is made of an inner hyper-elastic tube, surrounded by a braided shell made of inextensible threads; both ends provide...
39 citations
Cited by
More filters
TL;DR: In this paper, a nonlinear PID controller using neural network is proposed to improve the control performance of a 2-axis pneumatic artificial muscle (PAM) manipulator.
243 citations
TL;DR: The Pleated Pneumatic Artificial Muscle (PPAM) as mentioned in this paper was developed as an improvement with regard to existing types of PAM, e.g. the McKibben muscle.
Abstract: This paper describes the design of a new type of Pneumatic Artificial Muscle (PAM), namely the Pleated Pneumatic Artificial Muscle (PPAM). It was developed as an improvement with regard to existing types of PAM, e.g. the McKibben muscle. Its principle characteristic is its pleated membrane. It can inflate without material stretching and friction and has practically no stress in the direction perpendicular to its axis of symmetry. Besides these it is extremely strong and yet very lightweight and it has a large stroke compared to most other designs. A general introduction on PAMs is given together with a short discussion and motivation for this new design. The concept of the PPAM is explained and a mathematical model is derived. This model proves its principle of operation. From the model, several characteristics, such as developed force, maximum contraction, diameter, volume and membrane tensile stress, are obtained. Material choices and dimensions of a typical PPAM are next discussed and its measu...
209 citations
TL;DR: In this article, a climbing robot with eight suction cups was proposed to change its climbing direction to carry an ultrasonic probe or other non-destructive tests (NDT) equipment to evaluate the thickness and integrity of the metal in the inspection of storage tanks.
157 citations
24 May 2006
TL;DR: In this article, a new development of SMA position control system by using self-tuning fuzzy PID controller is presented, which can be used to improve the control performance of nonlinear systems.
Abstract: Shape Memory Alloy (SMA) actuators, which have ability to return to a predetermined shape when heated, have many potential applications in aeronautics, surgical tools, robotics and so on. Although the number of applications is increasing, there has been limited success in precise motion control since the systems are disturbed by unknown factors beside their inherent nonlinear hysteresis or the surrounding environment of the systems is changed. This paper presents a new development of SMA position control system by using self-tuning fuzzy PID controller. The use of this control algorithm is to tune the parameters of the PID controller by integrating fuzzy inference and producing a fuzzy adaptive PID controller that can be used to improve the control performance of nonlinear systems. The experimental results of position control of SMA actuators using conventional and self tuning fuzzy PID controller are both included in this paper.
141 citations
124 citations