Speaker
Description
This work presents the systematic design, realization, and experimental validation of a serial articulated robotic manipulator conceived for remote handling operations in confined and highly constrained environments. The work addresses the intrinsic complexity of developing robotic systems for such contexts by adopting a rigorous, requirement-driven engineering methodology that ensures coherence between operational needs, design choices, and experimental outcomes. Starting from a structured elicitation of stakeholder and application requirements, the proposed approach translates functional and environmental constraints into clear technical specifications governing kinematic architecture, mechanical layout, actuation strategy, and system integration. These specifications form the basis for the conceptual and detailed design of a compact, multi-degree-of-freedom manipulator capable of operating through limited access ports while maintaining adequate stiffness, payload capacity, and controllability. The design phase is supported by analytical and numerical methods, including kinematic modeling, actuator sizing, and structural analyses, which guide critical decisions on link geometry, joint architecture, and transmission solutions. Attention is devoted to the integration of the manipulator within a dedicated remote handling facility, specifically developed to replicate the geometric and operational conditions of the target environment and to enable controlled testing and qualification activities. The validity of the proposed methodology is demonstrated through the physical realization of the robotic arm and its successful experimental assessment. Factory-level tests confirm the consistency between predicted and measured performance in terms of deflections, alignment, and operational behavior. Beyond the specific system presented, the results highlight the robustness and transferability of the adopted design approach, providing a structured framework for the development of reliable robotic manipulators for confined-environment applications.