Traditional robotic arms still face challenges in achieving both lightweight and high dynamic precision. Hence, the overall objective is the development of a lightweight robotic arm, to improve operation safety and efficiency. Based on reference robot arm, the student will develop and enhance design with innovative meta-structure, metamaterial, and bio-based composite materials. An optimization analysis, based on a multi-objective design process, will be carried out in view to satisfy structural rigidity, a proper dynamic behavior (natural frequency and vibration dissipation), a lower weight and a green manufacturing process. The thesis will be performed remotely and supervised by UNINA, Naples.

Franco, Francesco

At VIAME, we are developing new concepts for lightweight design in several sectors (transportation, energy, machining,…). This research project will focus on detailed analysis drives and their influential design and operating parameters. Various optimisation strategies, including tooth profile modifications and bearing conceptions, should be comprehensively evaluation together with developed lightweight concept. To this end, detailed FEM and dynamic modelling will be achieved. The complexity of modelling will lead to a metamodeling stage, in order to deal with different uncertainty sources. The final goal will be on the minimization of cycloid drive mass and backlash effects while maximizing the transmission efficiency and precision. The thesis will be performed remotely at Ecole Central de Lyon, France.

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Ichchou, Mohamed

The target of this thesis is to develop lightweight solutions considering 3D printing technologies for high performance-to-cost implementations. Detailed parameters, such as clearance, deformation, accuracy, backlash, stiffness, load capacity of cycloid drives will be discussed during material and topology design. Meanwhile, proper 3D printing settings will be investigated to ensure large contact areas for load transfer and low shear stress. Software-based design methods will be applied in the parameter analysis to efficiently guide gearing design. For this, suitable mathematical modelling strategies and parametric uncertainties will be analyzed in detail. Thesis will be performed remotely with UNINA, Naples.

Franco, Francesco,

At VIAME, we are developing new concepts for lightweight design in several sectors (transportation, energy, machining,…). This research project will focus on an optimized data-based framework for Digital Twin (DT) generation of robot systems that can speed up design and evaluation. Machine Learning (ML) techniques will be applied to infer system models based on information obtained either from high-fidelity simulations or measurements. Suitability of ML methods will be assessed for various degrees of nonlinearity, non-smoothness, modelling uncertainty and parametric dimensionality in robotic applications. The thesis will be performed remotely at Ecole Central de Lyon, France.

Ichchou, Mohamed

At VIAME, we are developing new concepts for lightweight design in several sectors (transportation, energy, machining,…). This research project will be focused on detailed investigations on the tooth profile, Regarding influence of tooth profile parameters on harmonic drive performance, not only macro parameters but also micro parameters, such as surface roughness and contact geometry of the tooth on lubrication will be considered. More specifically, a detailed model for harmonic drive will be established, considering factors of lubrication, relative velocity, meshing point load, tooth contact geometry and surface roughness, etc. Based on design of various harmonic drive prototypes, tooth profile modifications and their impact will be evaluated with both simulations and additional experiments The thesis will be performed remotely at Ecole Central de Lyon, France.

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Ichchou, Mohamed

The objective of this thesis is to apply new manufacturing techniques to deal with the unique characteristics of the primary component of harmonic drive, i.e. flexspline, for high torsional rigidity and high radial flexibility. More specifically, sustainable manufacturing approaches, such as 3D printing methodologies should combine various green material choices to efficiently reach an optimized shaping of the primary components. With software-based design approach, the student will evaluate the impact of lightweight materials on efficiency, load capacity, costs, safety, and lifetime, while maintaining high precision and compactness. Thesis will be performed remotely with UNINA, Naples.

Franco, Francesco,

At the Institute of Mechatronic Systems in Mechanical Engineering, research is being conducted on autonomous, connected robotic vehicles. These vehicles are expected to ensure not only safe but also efficient movement. Current driver assistance systems, such as Adaptive Cruise Control (ACC), are already widely used in modern vehicles and serve as a fundamental basis for future automated driving functions. As part of this thesis, such a system is to be designed for complex urban intersection scenarios, focusing on both safety and efficiency, and implemented into the existing code structure. The approach will then be tested using the traffic simulation platform SUMO.

Electrification of mobile working machines, such as excavators, wheel loaders and forestry ma-chines, presents new challenges in electric motor selection and sizing, particularly in handling peak loads and overload conditions. This thesis topic examines the peak load capacity and overload-based sizing of electric motors used in mobile machinery. The findings of this thesis should provide state-of-the-art for optimizing the selection of electric motors for mobile working machines. These insights contribute to the broader development of efficient and durable electrified work machinery.

The establishment of a Hardware-in-the-Loop (HiL) testbench for the traction drive of heavy mobile machinery represents a significant step forward in the development and validation of traction drive systems. This thesis topic explores the comprehensive process of implementing such a HIL testbench, which facilitates real-time simulation and testing of traction drives.

Agile Robots SE is developing a kinematic replica for teleoperation of a humanoid with high DoF hands for data collection used in imitation learning. The current prototype provides two single-trigger handles to signalize grasping commands. This restricts the complexity of the teleoperations and, therefore, the tasks that the humanoid learns through imitation learning. This project aims to develop a multi-trigger handle to capture more nuanced commands.