Séminaire CeRVIM, Andrea Lucarini, 23 janvier 2026, 11h, PLT-3370

Advancing Cable-Driven Parallel Robots through Constrained Optimization: From Design Concepts to Underactuated Trajectory Planning

Andrea Lucarini (https://www.unibo.it/sitoweb/andrea.lucarini2/)

Visiting PhD student

Dept. of Mechanics and Advanced Engineering Sciences

University of Bologna, Italy

Vendredi, le 23 janvier 2026

Heure : 11h00, Local : PLT-3370

Résumé de la présentation :

Cable-Driven Parallel Robots (CDPRs) provide wide workspaces, high dynamic performance, and significant flexibility in reconfiguration. However, they also present notable challenges related to underactuation and optimal system configuration. This presentation offers an overview of the research activities of the IRMA group at the University of Bologna, with particular emphasis on the role of constrained nonlinear optimization as a unifying methodology for improving both design and control of CDPRs.

The presentation will first outline recent work on the optimal design of reconfigurable and deployable CDPR architectures - combining theoretical formulations, numerical optimization, and the development of a prototype - and will then focus on trajectory planning for underactuated CDPRs by exploiting nonlinear feasibility constraints to ensure consistent task execution despite limited actuation.

The presentation will include selected visual examples, preliminary results, and open research directions, with the objective of promoting dialogue with the robotics community at Université Laval.

À propos du conférencier, Andrea Lucarini :

Andrea Lucarini is a PhD student in Mechanics and Advanced Engineering Sciences at the University of Bologna, under the supervision of Prof. Marco Carricato and Prof. Edoardo Ida’. His research focuses on improving the performance of Cable-Driven Parallel Robots (CDPRs) using constrained nonlinear optimization techniques. In 2025 he participated in the 7th International Conference on Cable-Driven Parallel Robots, where his team received the Best Student Award for their preliminary work on trajectory planning in underactuated CDPRs. During that event he met Prof. Philippe Cardou, which led to his current visiting period at Université Laval from November 2025 to February 2026.

Bienvenue à toutes et à tous !