Publications by Emanuele Lubrano

Design and Calibration of Ultra-high-precision Industrial Robots

Reymond Clavel, Murielle Richard, Emanuele Lubrano

In this paper we present the key phases to design and calibrate ultra-high-precision industrial robots (i.e. submicrometric precision robots). The first part of our study will cover the robot design aspects, from the choice of the kinematics with the help ...

Institute of Electrical and Electronics Engineers2012

Calibration of Ultra-high-precision Robots Operating in an Unsteady Environment

Emanuele Lubrano

In recent years nanotechnology has become an enabling technology for the development and fabrication of new innovative products. The growth of micro- and nano-manufacturing lies in the ability of converting micro- and nano-fabrication techniques into mass- ...

EPFL2011

Compensation of thermal effects and cutting-forces acting on ultra high-precision robots

Reymond Clavel, Emanuele Lubrano

While dealing with sub-micrometric precision robots, all the events that can deform the robot structure or change its physics proprieties cause a loss of accuracy. In this paper we will focus on two significant issues: the first is the thermal changes acti ...

Messe Bremen-Hvg Hanseatische Veranstaltungs-Gmbh, Findorffstrasse 101, Bremen, 28215, Germany2010

Modeling and compensation of cutting-forces generated during the EDM process for ultra high-precision robots

Reymond Clavel, Emanuele Lubrano, Adrian Ionut Prodan

This work deals with the calibration of industrial robots operating at sub-micrometric precision. We demonstrate that the cutting-forces generated by the robot manufacturing process cause a significant deformation of the robot geometry, lo- wering its abso ...

VDE Verlag GMBH2010

Thermal Calibration of a 3 DOF Ultra High-Precision Robot Operating in Industrial Environment

Reymond Clavel, Emanuele Lubrano

While dealing with sub-micrometer precision robots, thermal expansion is the most significant source of inaccuracy. Thermal variations in the environment, in the robot parts and in the frame change the robot geometry, lowering the robot precision. In this ...

IEEE2010

Thermal Behavior of an Ultra High-Precision Linear Axis Operating in Industrial Environment

Reymond Clavel, Emanuele Lubrano

Thermal expansion is the major source of inaccuracy for ultra high-precision robots. In this paper we propose a strategy to model and compensate this effect. The experiment is run using a 1 DOF (degree-of-freedom) parallel robot equipped with ten temperatu ...

Schönenfeld & Ziegler2008

Calibration of the 6 DOF High-Precision Flexure Parallel Robot "Sigma 6"

Reymond Clavel, Emanuele Lubrano

In this paper, we present a new method for calibrating a 6 degree-of-freedom (DOF) high-precision flexure parallel robot. The innovative contributions of this work are either in the technological challenge of calibrating a 6 DOF robot with sub-micrometer a ...

Fraunhofer2006