3d printed robots

The recent advent of Additive Manufacturing (AM) has fundamentally changed the way we manufacture things. From design to tooling to replacement parts, additive manufacturing affected most areas of engineering. However, its impact on the field of robotics is just beginning to be felt.

Designing, fabricating and assembling articulated robots is a long and complex process. The clever application of AM can, however, overcome part of these difficulties. For example, robots with lower part counts can be designed specifically for AM, requiring little or no assembly operations. Furthermore, compliant joints can be used to replace traditional multi-part revolute or linear joints. Finally, the local tuning of material properties is now possible, thanks to the advent of new machines allowing fabrication with multiple materials and long-fibre composites. These possibilities open the way for integrated, high-performance monolithic robotic systems.

This project aims to rethink the way we currently design and make robots by developing new approaches for their implementation, taking advantage of the possibilities of AM.

Journal Articles

  • Kargar, S. M. and Parmiggiani, A. and Baggetta, M. and Ottonello, E. and Hao, G. and Berselli, G. Optimization of a tetrahedron compliant spherical joint via computer-aided engineering tools. (2024). DOI: 10.1007/s00170-024-13314-3. International Journal of Advanced Manufacturing Technology.
  • Ottonello, E. and Baggetta, M. and Berselli, G. and Parmiggiani, A. Design and Validation of a Push-Latch Gripper Made in Additive Manufacturing. (2023). DOI: 10.1109/TMECH.2023.3276073. IEEE/ASME Transactions on Mechatronics.

Conference Proceedings

  • Parmiggiani, A. and Ottonello, E. and Kargar, S. M. and Baggetta, M. and Hao, G. and Berselli, G. DELTAFLEX: AN ADDITIVELY MANUFACTURED MONOLITHIC DELTA ROBOT WITH COMPLIANT JOINTS. (2023). DOI: 10.1115/DETC2023-114914. Proceedings of the ASME Design Engineering Technical Conference.
  • Parmiggiani, A. and Shah, D. and Berselli, G. FABRICATION OF PARALLEL COMPLIANT MECHANISMS VIA ADDITIVE MANUFACTURING. (2023). DOI: 10.1115/SMASIS2023-111684. Proceedings of ASME 2023 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2023.