Giuseppe Radaelli

Giuseppe Radaelli
Delft University of Technology | TU · Department of Precision and Microsystems Engineering (PME)

Doctor of Engineering

About

39
Publications
8,234
Reads
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237
Citations

Publications

Publications (39)
Article
A cantilevered rod's endpoint has a symmetric stiffness profile throughout its range of motion. Generally, this is not the case for spatially curved compliant beams, particularly if they are asymmetric, i.e., their fixation is not in the symmetry plane of their endpoint operating field. This article discusses a technique for obtaining symmetric kin...
Article
Full-text available
Compliant mechanisms (CM) with adaptive stiffness have been widely used in robotics and machine design applications. This paper proposes adapting the endpoint stiffness of a spatially curved compliant beam using a movable torsional stiffener and a new graphical characterization method for the resulting anisotropic stiffness of the endpoint for larg...
Chapter
Full-text available
A design tool for passive wrist support using compliant spatial beams as gravity balancer is presented. The aim of this assistive device is to reduce required effort for pronation-supination and flexion-extension by 70% to help patients with muscular weakness keeping their hand’s posture and doing daily tasks, while the forearm is rested. To reach...
Article
Full-text available
It is expected that mobile robots can benefit from the exploitation of their resonance in terms of actuation and efficiency. Therefore, a study is conducted on the existing terrestrial mobile robots that use resonance to obtain or improve locomotion. An overview of these robots is provided, and their advantages over robots that do not use resonance...
Article
Full-text available
Elastic neutral stability in compliant mechanisms is a remarkable appearance since it requires the energetic state of the structure to remain unchanged during a deformation mode. Several examples in literature require either plastic deformation or external constraints to be enforced to obtain a state of pre-stress and often require the use of aniso...
Article
Full-text available
Mechanisms that consist of many elements and are potentially small sized, benefit from kinematic elementary units like revolute joints that are compliant and monolithic, and therefore could be produced without need for assembly. We present a novel concept of a compliant revolute joint that features low axis drift, high support stiffness and a large...
Article
Full-text available
Inspired by phenomena in the plant world, a meteoro-sensitive rotational actuator is developed. The design uses a hygro-active shell, whose water-based swelling is restricted at selective locations to form a helicoid structure. The influence of geometrical parameters on the performance is investigated using a numerical analysis of various geometrie...
Article
Contact force management has been proven to have a positive effect on the outcome of cardiac ablation procedures. However, no method exists that allows maintaining a constant contact force within a required and effective range. This work aims to develop and evaluate such a constant force mechanism for use in an ablation catheter. A passive constant...
Conference Paper
Full-text available
A method to achieve symmetric kinetostatic behaviour in an extensive working range at the endpoint of an asymmetric spatial beam, using cross-section optimization, is presented. The objective function of the optimization is defined as expanding the beam working range to the desired region, simultaneously maximizing symmetric behaviour in it. To rea...
Article
Full-text available
Compliant shape-preserving mechanisms fill a small niche within the established research field of compliant mechanisms. To date no report exists on a compliant shape-preserving ring, even though these mechanisms can give rise to a multitude of practical applications. They can essentially act as novel sealing mechanisms, compliant grippers or find u...
Article
Compliant shell mechanisms utilize thin walled structures to achieve motion and force generation. Shell mechanisms, because of their thin walled nature and spatial geometry, are building blocks for spatial mechanism applications. In spatial compliant mechanism design, the ratio of compliance is representation of the kinetostatics involved. Using sh...
Preprint
Full-text available
A method to achieve symmetric kinetostatic behaviour in an extensive working range at the endpoint of an asymmetric spatial beam, using cross-section optimization, is presented. The objective function of the optimization is defined as expanding the beam working range to the desired region, simultaneously maximizing symmetric behaviour in it. To rea...
Article
Full-text available
This work is dedicated to the study of the large-displacement behaviour of a spiral spring. Parameters that influence the local torsion stiffness of the beam that constitutes the spiral are varied and their effect is studied. Cross-sectional shape, orthotropic material orientation and prestress are the three classes of parameters that are varied. T...
Conference Paper
Spatial compliant mechanism are challenging to design owing to their complex spatial kinetic and kinematic behavior. There are many synthesis methods to design compliant mechanisms, but they are often presented for planar mechanisms or have other limitations such as lack of designer input possibilities. In this paper a method based on the complianc...
Article
Full-text available
A great deal of engineering effort is focused on changing mechanical material properties by creating microstructural architectures instead of modifying chemical composition. This results in meta-materials, which can exhibit properties not found in natural materials and can be tuned to the needs of the user. To change Poisson’s ratio and Young’s mod...
Article
Full-text available
A zero free length (ZFL) spring is a spring with special properties, which is commonly used in static balancing. Existing methods to create ZFL springs all have their specific drawbacks, which rises to the need of a new method to create such a spring. A method is proposed to design planar ZFL springs with specified stiffness (250–750 N/m) within a...
Article
Principles from origami art are applied in the design of mechanisms and robotics increasingly frequent. A large part of the application driven research of these origamilike mechanisms focuses on devices where the creases (hinge lines) are actuated and the facets are constructed as stiffelements. In this paper, a design tool is proposed in which hin...
Article
A gravity equilibrator is a statically balanced system which is designed to counterbalance a mass such that any preferred position is eliminated and thereby the required operating effort to move the mass is greatly reduced. Current spring-to-mass gravity equilibrators are limited in their range of motion as a result of constructional limitations. A...
Conference Paper
In this paper a first iteration of a new scoliosis brace design and correction strategy is presented using compliant shell mech- anisms to create both motion and correction. The motion profile of the human spine was found using a segmented motion cap- ture approach. The brace was designed for a case study using a conceptual ellipsoid design approac...
Article
For the conception of compliant mechanisms various design aids have been proposed, including some graphical ones. In this work we propose to use the potential energy field of elastic systems to characterise their behaviour over a large motion area. The system and its characterisation can be interactively adapted to obtain a behaviour of interest. T...
Article
The research on compliant shell mechanisms is a new and promising expansion of the well established compliant mechanisms research area. Benefits of compliant shell mechanisms include being spatial and slender, having organic shapes and their high tailorability of the load-displacement response. This work focusses on the design of a shell with tailo...
Article
Recently, there has been an increased interest in origami art from a mechanism design perspective. The deployable nature and the planar fabrication method inherent to origami provide potential for space and cost-efficient mechanisms. In this paper, a novel type of origami mechanisms is proposed in which the compliance of the facets is used to incor...
Article
This paper presents a method for the design of a statically balanced inverted pendulum. The non-linear moment-rotation characteristic of the pendulum's weight is approximated by a piecewise linear characteristic. Each transition is realized by engaging or disengaging one or more torsion bars, by means of mechanical stops. The whole set of torsion b...
Article
Full-text available
This paper presents the shape optimization of a compliant beam for prescribed load-displacements response. The analysis of the design is based on the isogeometric analysis framework for an enhanced fidelity between designed and analysed shape. The sensitivities used for an improved optimization procedure are derived analytically, including terms du...
Conference Paper
Recently, there has been an increased interest in origami art from a mechanism design perspective. The deployable nature and the planar fabrication method inherent to origami provide potential for space and cost efficient mechanisms. In this paper, a novel type of origami mechanisms is proposed in which the compliance of the facets is used to incor...
Conference Paper
A gravity equilibrator is a statically balanced system which is designed to counterbalance a mass such that any preferred position is eliminated and thereby the required operating effort to move the mass is greatly reduced. Current spring-to-mass gravity equilibrators are limited in their range of motion as a result of design limitations. An increm...
Article
A new monolithic fully compliant gravity balancer is designed with help of a design approach based on shape optimization. The balancer consists of one single clamped-clamped complex-shaped beam on which a weight is attached. The beam is modeled as a planar isogeometric Bernoulli beam. The goal function of the optimization consists of an energy base...
Patent
Full-text available
Barrier, for instance suitable for use as barrier along rail-ways or traffic ways, comprising an assembly of a barrier body and supports for said barrier body, wherein the assembly is statically balanced and provided with a collapsed con- figuration and an erected configuration, wherein the erected configuration is stable and movement of the barrie...
Conference Paper
A new monolithic fully compliant gravity bal-ancer is designed with help of a design approach based on shape optimization. The balancer consists of one single complex-shaped beam on which the weight is attached. The beam is modeled as a planar isogeometric Bernoulli beam. The goal function of the optimization consists of an energy based evaluation...
Conference Paper
Full-text available
This paper presents a method for the design of compliant mechanisms with large deflections and prescribed load paths. While the approach is general, this paper treats the shape optimization for two dimensional beams. Due to the geometric non-linearity of the problem the non-linear analysis is nested into the optimization procedure. This requires ac...
Article
Full-text available
Static balance can be applied to improve the energy efficiency of mechanisms. In the field of static balancing, there is a lack of knowledge and design methods that are capable of dealing with torsional stiffness. This paper presents a design approach for statically balanced mechanisms, with the focus on mechanisms with torsional stiffness. The app...
Conference Paper
Full-text available
A gravity balancer is a mechanism that compensates the weight of a mass over a range of motion. When no friction is present, this gives an energy efficient mechanism and little effort is required to move an object. Conventional mechanisms have drawbacks due to the use of conventional rigid joints. Compliant joints do not have these disadvantages, c...
Conference Paper
Full-text available
Static balance can be applied to improve energy efficiency of mechanisms. In the field of static balancing, a lack of knowledge and design methods exists that are capable of dealing with torsional stiffness. This paper presents a design approach for statically balanced mechanisms, with the focus on mechanisms with torsional stiffness. The approach...
Conference Paper
Full-text available
This paper presents a novel straight-line self-guiding statically-balanced mechanism which reflects on the advantages of lumped compliant mechanisms. The forthcoming structural design is conceived with an energy approach for static balancing of mechanisms. In this paper the application and effectiveness of the energy approach as a synthesis tool is...

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Projects

Project (1)
Project
Development of a design toolbox for large-deflection doubly-curved compliant mechanisms for specified motion and stiffness. Applications include body support devices that fit underneath clothing, and spatially curved flexures for precision engineering.