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Giovanni Berselli
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Journal Articles

DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation

Alberto Parmiggiani, Emilio Ottonello, Seyyed Masoud Kargar, Mario Baggetta, Guangbo Hao, Giovanni Berselli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111011.
Paper No: JMR-23-1682
https://doi.org/10.1115/1.4065780
Published Online: July 22, 2024
View Article titled, DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation
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Topics: Additive manufacturing, Design, Robots, Stiffness, Errors, Stress, End effectors, Simulation
Proceedings Papers

Conceptual Design and Virtual Prototyping of a Compliant, Low-Cost Prosthetic Hand

Mario Baggetta, Vazzoler Margherita, Gianluca Palli, Claudio Melchiorri, Giovanni Berselli
Proc. ASME. SMASIS2023, ASME 2023 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T03A001, September 11–13, 2023
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2023-110461
https://doi.org/10.1115/SMASIS2023-110461
View Paper titled, Conceptual Design and Virtual Prototyping of a Compliant, Low-Cost Prosthetic Hand
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Topics: Artificial limbs, Conceptual design, Design, Grasping, Springs, Tendons, Additive manufacturing, Control systems, Degrees of freedom, Electric motors
Proceedings Papers

Fabrication of Parallel Compliant Mechanisms via Additive Manufacturing

Divya Shah, Giovanni Berselli, Alberto Parmiggiani
Proc. ASME. SMASIS2023, ASME 2023 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T03A009, September 11–13, 2023
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2023-111684
https://doi.org/10.1115/SMASIS2023-111684
View Paper titled, Fabrication of Parallel Compliant Mechanisms via Additive Manufacturing
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Topics: Additive manufacturing, Compliant mechanisms, Manufacturing
Proceedings Papers

DeltaFlex: An Additively Manufactured Monolithic Delta Robot With Compliant Joints

Alberto Parmiggiani, Emilio Ottonello, Seyyed Masoud Kargar, Mario Baggetta, Guangbo Hao, Giovanni Berselli
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A031, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114914
https://doi.org/10.1115/DETC2023-114914
View Paper titled, DeltaFlex: An Additively Manufactured Monolithic Delta Robot With Compliant Joints
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Topics: Additive manufacturing, Robots, Design, Architecture, Stiffness, Accuracy and precision, Cycles, Engineering prototypes, Engineering simulation, Finite element methods
Proceedings Papers

Design and Virtual Prototyping of a Constant Force Gripper for Food Handling and Harvesting

Mario Baggetta, Guangbo Hao, Giovanni Berselli
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A024, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116587
https://doi.org/10.1115/DETC2023-116587
View Paper titled, Design and Virtual Prototyping of a Constant Force Gripper for Food Handling and Harvesting
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Topics: Design, Food products, Grippers
Proceedings Papers

Mechatronic Design and Physical Prototyping of a Three-Fingered Gripper for Underwater Manipulation

Mario Baggetta, Giovanni Berselli, Gianluca Palli, Claudio Melchiorri
Proc. ASME. SMASIS2022, ASME 2022 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T03A014, September 12–14, 2022
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2022-92010
https://doi.org/10.1115/SMASIS2022-92010
View Paper titled, Mechatronic Design and Physical Prototyping of a Three-Fingered Gripper for Underwater Manipulation
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Topics: Design, Grippers, Autonomous underwater vehicles, Tendons, Degrees of freedom, Dimensions, Engineering prototypes, Mechanical structures, Mechatronics, Robotics
Journal Articles

Nonlinear Analysis of a Class of Inversion-Based Compliant Cross-Spring Pivots

Shiyao Li, Guangbo Hao, Yingyue Chen, Jiaxiang Zhu, Giovanni Berselli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031007.
Paper No: JMR-21-1275
https://doi.org/10.1115/1.4052514
Published Online: November 18, 2021
View Article titled, Nonlinear Analysis of a Class of Inversion-Based Compliant Cross-Spring Pivots
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Topics: Design, Rotation, Springs, Stress, Stiffness, Finite element analysis
Proceedings Papers

Nonlinear Analysis of a Class of Inversion-Based Compliant Cross-Spring Pivots

Shiyao Li, Guangbo Hao, Yingyue Chen, Jiaxiang Zhu, Giovanni Berselli
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A011, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69028
https://doi.org/10.1115/DETC2021-69028
View Paper titled, Nonlinear Analysis of a Class of Inversion-Based Compliant Cross-Spring Pivots
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Topics: Springs, Stress
Proceedings Papers

3D Printed Resonant Compliant Mechanism to Reduce Motor Torque Requirements of Machines With Cyclic Operation

Luca Luzi, Amedeo Carloni, Lorenzo Agostini, Riccardo Pucci, Mohamed Refat, Giovanni Berselli, Rocco Vertechy
Proc. ASME. SMASIS2021, ASME 2021 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T07A012, September 14–15, 2021
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2021-68293
https://doi.org/10.1115/SMASIS2021-68293
View Paper titled, 3D Printed Resonant Compliant Mechanism to Reduce Motor Torque Requirements of Machines With Cyclic Operation
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Topics: Additive manufacturing, Compliant mechanisms, Engines, Fibers, Machinery, Motors, Optimization, Resonance, Topology, Torque
Proceedings Papers

Fused Filament Fabrication of Continuous Fiber-Reinforced Thermoplastics for Compliant Mechanisms

Mohamed Refat, Luca Luzi, Lorenzo Agostini, Riccardo Pucci, Giovanni Berselli, Rocco Vertechy
Proc. ASME. SMASIS2021, ASME 2021 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T07A015, September 14–15, 2021
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2021-68331
https://doi.org/10.1115/SMASIS2021-68331
View Paper titled, Fused Filament Fabrication of Continuous Fiber-Reinforced Thermoplastics for Compliant Mechanisms
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Topics: Additive manufacturing, Compliant mechanisms, Composite materials, Fibers, Manufacturing
Proceedings Papers

Additively Manufactured Continuous Fibre-Reinforced Thermoplastics for Mechanisms Subjected to Predominant Inertial Load: A Case Study

Luca Luzi, Giacomo Quercioli, Riccardo Pucci, Guido Bocchieri, Rocco Vertechy, Giovanni Berselli
Proc. ASME. SMASIS2020, ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T03A009, September 15, 2020
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2020-2320
https://doi.org/10.1115/SMASIS2020-2320
View Paper titled, Additively Manufactured Continuous Fibre-Reinforced Thermoplastics for Mechanisms Subjected to Predominant Inertial Load: A Case Study
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Topics: Additive manufacturing, Fibers, Optimization, Stress, Topology
Journal Articles

Zero Torque Compliant Mechanisms Employing Pre-buckled Beams

Pietro Bilancia, Samuel P. Smith, Giovanni Berselli, Spencer P. Magleby, Larry L. Howell
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2020, 142(11): 113301.
Paper No: MD-19-1837
https://doi.org/10.1115/1.4046810
Published Online: May 21, 2020
View Article titled, Zero Torque Compliant Mechanisms Employing Pre-buckled Beams
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Topics: Design, Finite element analysis, Optimization, Torque, Engineering prototypes, Springs, Deflection, Stiffness, Compliant mechanisms, Shapes
Proceedings Papers

On the Design of a Long-Stroke Beam-Based Compliant Mechanism Providing Quasi-Constant Force

Pietro Bilancia, Alessandro Geraci, Giovanni Berselli
Proc. ASME. SMASIS2019, ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T03A001, September 9–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2019-5519
https://doi.org/10.1115/SMASIS2019-5519
View Paper titled, On the Design of a Long-Stroke Beam-Based Compliant Mechanism Providing Quasi-Constant Force
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Topics: Compliant mechanisms, Design, Deflection, Dimensions, Shapes, Bending (Stress), Computer software, Control algorithms, Design methodology, Engineering prototypes
Proceedings Papers

Design of a Beam-Based Variable Stiffness Actuator via Shape Optimization in a CAD/CAE Environment

Pietro Bilancia, Giovanni Berselli, Umberto Scarcia, Gianluca Palli
Proc. ASME. SMASIS2018, Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation, and Control of Adaptive Systems; Integrated System Design and Implementation, V001T03A013, September 10–12, 2018
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2018-8053
https://doi.org/10.1115/SMASIS2018-8053
View Paper titled, Design of a Beam-Based Variable Stiffness Actuator via Shape Optimization in a CAD/CAE Environment
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Topics: Actuators, Computer-aided design, Computer-aided engineering, Design, Shape optimization, Stiffness, Robots, Compliant mechanisms, Safety, Additive manufacturing
Proceedings Papers

Optimal Design of 3D Printed Spiral Torsion Springs

Umberto Scarcia, Giovanni Berselli, Claudio Melchiorri, Manuele Ghinelli, Gianluca Palli
Proc. ASME. SMASIS2016, Volume 2: Modeling, Simulation and Control; Bio-Inspired Smart Materials and Systems; Energy Harvesting, V002T03A020, September 28–30, 2016
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2016-9218
https://doi.org/10.1115/SMASIS2016-9218
View Paper titled, Optimal Design of 3D Printed Spiral Torsion Springs
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Topics: Additive manufacturing, Design, Springs, Torsion, Manufacturing, Manipulators, Alloy steel, Carbon, Chain, Deflection
Proceedings Papers

An Experimental Assessment of the Thermo-Elastic Response in Acrylic Elastomers and Natural Rubbers for Application on Electroactive Polymer Transducers

Giovanni Berselli, Rocco Vertechy, Marco Fontana, Marcello Pellicciari
Proc. ASME. SMASIS2014, Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Structural Health Monitoring; Keynote Presentation, V001T03A027, September 8–10, 2014
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2014-7604
https://doi.org/10.1115/SMASIS2014-7604
View Paper titled, An Experimental Assessment of the Thermo-Elastic Response in Acrylic Elastomers and Natural Rubbers for Application on Electroactive Polymer Transducers
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Topics: Conducting polymers, Elastomers, Natural rubber, Thermoelasticity, Transducers, Databases, Temperature, Active materials, Actuators, Dielectric materials
Journal Articles

Design of a Dielectric Elastomer Cylindrical Actuator With Quasi-Constant Available Thrust: Modeling Procedure and Experimental Validation

Giovanni Berselli, Giovanni Scirè Mammano, Eugenio Dragoni
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. December 2014, 136(12): 125001.
Paper No: MD-14-1107
https://doi.org/10.1115/1.4028277
Published Online: October 20, 2014
View Article titled, Design of a Dielectric Elastomer Cylindrical Actuator With Quasi-Constant Available Thrust: Modeling Procedure and Experimental Validation
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Topics: Actuators, Design, Thrust
Proceedings Papers

Design and Modeling of a Dielectric Elastomer Cylindrical Actuator With Quasi-Constant Available Thrust

Giovanni Berselli, Giovanni Scirè Mammano, Eugenio Dragoni
Proc. ASME. SMASIS2013, Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation, V001T03A041, September 16–18, 2013
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2013-3266
https://doi.org/10.1115/SMASIS2013-3266
View Paper titled, Design and Modeling of a Dielectric Elastomer Cylindrical Actuator With Quasi-Constant Available Thrust
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Topics: Actuators, Design, Elastomers, Modeling, Thrust, Accounting, Buckling, Compliant mechanisms, Deflection, Finite element analysis
Proceedings Papers

On the Control of a Dielectric Elastomer Artificial Muscle With Variable Impedance

Gianluca Palli, Giovanni Berselli
Proc. ASME. SMASIS2013, Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation, V001T03A042, September 16–18, 2013
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2013-3267
https://doi.org/10.1115/SMASIS2013-3267
View Paper titled, On the Control of a Dielectric Elastomer Artificial Muscle With Variable Impedance
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Topics: Elastomers, Muscle, Actuators, Biomimetics, Control equipment, Damping, Dielectric materials, Engineering simulation, Shapes, Simulation
Proceedings Papers

An Improved Method for Designing Flexure-Based Nonlinear Springs

Qiaoling Meng, Giovanni Berselli, Rocco Vertechy, Vincenzo Parenti Castelli
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 211-219, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70367
https://doi.org/10.1115/DETC2012-70367
View Paper titled, An Improved Method for Designing Flexure-Based Nonlinear Springs
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Topics: Bending (Stress), Design, Springs, Hinges, Deflection, Finite element analysis, Modeling, Stress, Approximation, Compliant mechanisms