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Paolo Gallina
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Journal Articles

Towing an Object With a Rover

Matteo Caruso, Nicholas Sesto Gorella, Paolo Gallina, Stefano Seriani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021001.
Paper No: JMR-23-1486
https://doi.org/10.1115/1.4065697
Published Online: July 19, 2024
View Article titled, Towing an Object With a Rover
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Topics: Dynamics (Mechanics), Friction, Kinematics, Path planning, Pressure, Sensitivity analysis, Simulation, Trajectories (Physics), Geometry, Wheels
Proceedings Papers

Planar Cable-Direct-Driven Robots: Part I — Kinematics and Statics

Robert L. Williams, II, Paolo Gallina
Proc. ASME. IDETC-CIE2001, Volume 2B: 27th Design Automation Conference, 1233-1240, September 9–12, 2001
Publisher: American Society of Mechanical Engineers
Paper No: DETC2001/DAC-21145
https://doi.org/10.1115/DETC2001/DAC-21145
View Paper titled, Planar Cable-Direct-Driven Robots: Part I — Kinematics and Statics
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Topics: Cables, Kinematics, Robots, Statics, Redundancy (Engineering), Manipulators, Modeling
Proceedings Papers

Planar Cable-Direct-Driven Robots: Part II — Dynamics and Control

Paolo Gallina, Aldo Rossi, Robert L. Williams, II
Proc. ASME. IDETC-CIE2001, Volume 2B: 27th Design Automation Conference, 1241-1247, September 9–12, 2001
Publisher: American Society of Mechanical Engineers
Paper No: DETC2001/DAC-21146
https://doi.org/10.1115/DETC2001/DAC-21146
View Paper titled, Planar Cable-Direct-Driven Robots: Part II — Dynamics and Control
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Topics: Cables, Dynamics (Mechanics), Robots, Control equipment, Feedforward control, Redundancy (Engineering), Actuators, Errors, Inertia (Mechanics), Kinematics
Journal Articles

Variable Radius Drum Mechanisms

Stefano Seriani, Paolo Gallina
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021016.
Paper No: JMR-15-1069
https://doi.org/10.1115/1.4031951
Published Online: November 24, 2015
View Article titled, Variable Radius Drum Mechanisms
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Topics: Cables, Engineering prototypes, Pulleys, Stress, Kinematic analysis
Journal Articles

Static and Vibration Analyses of a Three-Dimensional Snake-Like Micropositioning Stage

Nicola Scuor, Paolo Gallina, Marco Giovagnoni
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2014, 136(1): 011017.
Paper No: DS-12-1140
https://doi.org/10.1115/1.4025606
Published Online: October 18, 2013
View Article titled, Static and Vibration Analyses of a Three-Dimensional Snake-Like Micropositioning Stage
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Topics: Disks, Displacement, Dynamic models, End effectors, Stiffness, Vibration analysis, Actuators, Oscillations, Electrodes, Damping
Proceedings Papers

Wheeled Omni-Directional Robot Dynamics Including Slip

Robert L. Williams, II, Brian E. Carter, Paolo Gallina, Giulio Rosati
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 201-207, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34221
https://doi.org/10.1115/DETC2002/MECH-34221
View Paper titled, Wheeled Omni-Directional Robot Dynamics Including Slip
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Topics: Dynamic models, Dynamics (Mechanics), Friction, Mobile robots, Robot dynamics, Robots, Rollers, Simulation, Simulation results, Trajectories (Physics)
Journal Articles

Delayed Reference Control for Hotwire Cutting of Expandable Polystyrene Foam

Paolo Gallina
Journal: Journal of Manufacturing Science and Engineering
Publisher: ASME
Article Type: Technical Briefs
J. Manuf. Sci. Eng. February 2006, 128(1): 360–365.
https://doi.org/10.1115/1.2124990
Published Online: April 5, 2005
View Article titled, Delayed Reference Control for Hotwire Cutting of Expandable Polystyrene Foam
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Topics: Cutting, Force control
Journal Articles

Effect of Damping on Asymmetric Systems

Paolo Gallina, Associate Professor,
Journal: Journal of Vibration and Acoustics
Publisher: ASME
Article Type: Technical Papers
J. Vib. Acoust. July 2003, 125(3): 359–364.
https://doi.org/10.1115/1.1569945
Published Online: June 18, 2003
View Article titled, Effect of Damping on Asymmetric Systems
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Topics: Damping, Eigenvalues
Journal Articles

Design of a Screw Jack Mechanism to Avoid Self-excited Vibrations

Paolo Gallina, Assistant Professor, Marco Giovagnoni, Full Professor
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. September 2002, 124(3): 477–480.
https://doi.org/10.1115/1.1484395
Published Online: July 23, 2002
View Article titled, Design of a Screw Jack Mechanism to Avoid Self-excited Vibrations
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Topics: Jacks (Lifting equipment), Screws, Vibration, Stability, Eigenvalues