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Raffaele Di Gregorio
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Journal Articles

A Novel Method to Design Translational Parallel Manipulators With an Assigned Maximum Orientation Error

Raffaele Di Gregorio, Henrique Simas, Roberto Simoni
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2023, 145(6): 063302.
Paper No: MD-22-1631
https://doi.org/10.1115/1.4057001
Published Online: March 16, 2023
View Article titled, A Novel Method to Design Translational Parallel Manipulators With an Assigned Maximum Orientation Error
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Topics: Design, Errors, Manipulators, Machining, Manufacturing
Journal Articles

Direct Position Analysis of a Particular Translational 3-URU Manipulator

Raffaele Di Gregorio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061007.
Paper No: JMR-20-1563
https://doi.org/10.1115/1.4050764
Published Online: June 3, 2021
View Article titled, Direct Position Analysis of a Particular Translational 3-URU Manipulator
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Topics: Algorithms, Manipulators, Engines, Motors, Algebra, Actuators, Kinematics
Proceedings Papers

Position Analysis in Analytical Form of the 3-PSP Mechanism

Raffaele Di Gregorio, Vincenzo Parenti-Castelli
Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 1491-1497, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/DAC-8689
https://doi.org/10.1115/DETC99/DAC-8689
View Paper titled, Position Analysis in Analytical Form of the 3-PSP Mechanism
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Topics: Kinematic chains, Nonlinear equations
Proceedings Papers

A Spatial Mechanism With Higher Pairs for Modelling the Human Knee Joint

Raffaele Di Gregorio, Vincenzo Parenti-Castelli
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 963-971, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14156
https://doi.org/10.1115/DETC2000/MECH-14156
View Paper titled, A Spatial Mechanism With Higher Pairs for Modelling the Human Knee Joint
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Topics: Knee, Modeling, Parallel mechanisms
Proceedings Papers

Three-Equation Kinematic Models for the Human Knee Passive Motion Simulation

Raffaele Di Gregorio, Vincenzo Parenti-Castelli
Proc. ASME. IDETC-CIE2001, Volume 2B: 27th Design Automation Conference, 939-945, September 9–12, 2001
Publisher: American Society of Mechanical Engineers
Paper No: DETC2001/DAC-21111
https://doi.org/10.1115/DETC2001/DAC-21111
View Paper titled, Three-Equation Kinematic Models for the Human Knee Passive Motion Simulation
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Topics: Kinematics, Knee, Simulation
Journal Articles

A Technique Based on Adaptive Extended Jacobians for Improving the Robustness of the Inverse Numerical Kinematics of Redundant Robots

Henrique Simas, Raffaele Di Gregorio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020913.
Paper No: JMR-19-1004
https://doi.org/10.1115/1.4042514
Published Online: February 25, 2019
View Article titled, A Technique Based on Adaptive Extended Jacobians for Improving the Robustness of the Inverse Numerical Kinematics of Redundant Robots
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Topics: Algorithms, Kinematics, Robots
Proceedings Papers

Adaptive Extended Jacobian Can Improve the Global Conditioning Index of Redundant Robots

Henrique Simas, Raffaele Di Gregorio
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A015, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85467
https://doi.org/10.1115/DETC2018-85467
View Paper titled, Adaptive Extended Jacobian Can Improve the Global Conditioning Index of Redundant Robots
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Topics: Robots, Kinematics, Algorithms
Proceedings Papers

Kinematics of a Particular 3T1R Parallel Manipulator of Type 2 P R P U

Henrique Simas, Raffaele Di Gregorio
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A038, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67174
https://doi.org/10.1115/DETC2017-67174
View Paper titled, Kinematics of a Particular 3T1R Parallel Manipulator of Type 2 P R P U
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Topics: Kinematics, Manipulators, End effectors, Actuators, Design, Displacement, Generators, Robots, Rotation
Proceedings Papers

A General Technique to Evaluate the Effects of Manufacturing Errors on Positioning Precision During Design

Henrique Simas, Raffaele Di Gregorio
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A073, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59121
https://doi.org/10.1115/DETC2016-59121
View Paper titled, A General Technique to Evaluate the Effects of Manufacturing Errors on Positioning Precision During Design
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Topics: Design, Errors, Manufacturing, Architecture, Robots
Journal Articles

Geometric Error Effects on Manipulators' Positioning Precision: A General Analysis and Evaluation Method

Henrique Simas, Raffaele Di Gregorio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061016.
Paper No: JMR-16-1049
https://doi.org/10.1115/1.4034577
Published Online: October 6, 2016
View Article titled, Geometric Error Effects on Manipulators' Positioning Precision: A General Analysis and Evaluation Method
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Topics: Errors, Evaluation methods, Manipulators, Manufacturing, Design, Architecture, Calibration, Degrees of freedom, Mechanical admittance
Proceedings Papers

Systematic Use of Instant Centers in the Dynamics Analysis of Single-DOF Planar Mechanisms

Raffaele Di Gregorio
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A017, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46065
https://doi.org/10.1115/DETC2015-46065
View Paper titled, Systematic Use of Instant Centers in the Dynamics Analysis of Single-DOF Planar Mechanisms
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Topics: Algorithms, Dynamic models, Dynamics (Mechanics), Kinematics, Machinery
Journal Articles

A Novel Dynamic Model for Single Degree-of-Freedom Planar Mechanisms Based on Instant Centers

Raffaele Di Gregorio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 011013.
Paper No: JMR-15-1006
https://doi.org/10.1115/1.4030986
Published Online: August 18, 2015
View Article titled, A Novel Dynamic Model for Single Degree-of-Freedom Planar Mechanisms Based on Instant Centers
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Topics: Algorithms, Degrees of freedom, Dynamic models, Dynamics (Mechanics), Kinematics
Journal Articles

Analytic and Geometric Technique for the Singularity Analysis of Multi-Degree-of-Freedom Spherical Mechanisms

Raffaele Di Gregorio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2015, 7(3): 031008.
Paper No: JMR-13-1175
https://doi.org/10.1115/1.4028625
Published Online: August 1, 2015
View Article titled, Analytic and Geometric Technique for the Singularity Analysis of Multi-Degree-of-Freedom Spherical Mechanisms
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Topics: Linkages, Scalars, Kinematics
Proceedings Papers

Pole-Axis Based Singularity Analysis of Spherical Mechanisms

Raffaele Di Gregorio
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A039, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12060
https://doi.org/10.1115/DETC2013-12060
View Paper titled, Pole-Axis Based Singularity Analysis of Spherical Mechanisms
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Topics: Poles (Building)
Proceedings Papers

Singularity Analysis of a Single-Loop Underactuated Wrist

Raffaele Di Gregorio
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A050, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12044
https://doi.org/10.1115/DETC2013-12044
View Paper titled, Singularity Analysis of a Single-Loop Underactuated Wrist
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Topics: Design, Kinematics, Manipulators, Path planning
Journal Articles

Kinetostatics of S-(nS) P U-S P U and S-(nS)PU-2S P U Nonholonomic Parallel Wrists

Raffaele Di Gregorio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2013, 5(4): 041018.
Paper No: JMR-13-1052
https://doi.org/10.1115/1.4025220
Published Online: October 10, 2013
View Article titled, Kinetostatics of S-(nS) P U-S P U and S-(nS)PU-2S P U Nonholonomic Parallel Wrists
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Topics: Kinematics, Rollers, Actuators, Manipulators, Stiction
Proceedings Papers

Kinematics of a Novel Single-Loop Under-Actuated Wrist

Raffaele Di Gregorio
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 427-434, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70191
https://doi.org/10.1115/DETC2012-70191
View Paper titled, Kinematics of a Novel Single-Loop Under-Actuated Wrist
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Topics: Algorithms, Kinematics, Manipulators, Path planning, Rollers
Proceedings Papers

Instantaneous Kinematics and Singularities of Two Types of Under-Actuated Parallel Wrists

Raffaele Di Gregorio
Proc. ASME. ESDA2012, Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering, 117-125, July 2–4, 2012
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2012-82084
https://doi.org/10.1115/ESDA2012-82084
View Paper titled, Instantaneous Kinematics and Singularities of Two Types of Under-Actuated Parallel Wrists
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Topics: Kinematics, Path planning, Rollers
Journal Articles

Type Synthesis of Underactuated Wrists Generated From Fully-Parallel Wrists

Raffaele Di Gregorio
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: In-Brief
J. Mech. Des. December 2012, 134(12): 124501.
https://doi.org/10.1115/1.4007399
Published Online: October 19, 2012
View Article titled, Type Synthesis of Underactuated Wrists Generated From Fully-Parallel Wrists
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Topics: Architecture, Design, Manipulators, Path planning, Rotation, Rollers, Manufacturing, Actuators, Algorithms
Proceedings Papers

Kinematics of the (nS)-2S P U Wrist

Raffaele Di Gregorio
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1093-1099, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-47103
https://doi.org/10.1115/DETC2011-47103
View Paper titled, Kinematics of the (nS)-2S P U Wrist
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Topics: Kinematics, Manipulators, Control algorithms, Design, End effectors, Hardware, Kinematic analysis, Linkages, Rollers