Singularity-Free Fully-Isotropic Translational Parallel Manipulators

Parallel mechanisms show desirable characteristics such as a large payload to robot weight ratio, considerable stiffness, low inertia and high dynamic performances. In particular, parallel manipulators with fewer than six degrees of freedom have recently attracted researchers’ attention, as their employ may prove valuable in those applications in which a higher mobility is uncalled-for. The attention of this dissertation is focused on translational parallel manipulators (TPMs), that is on parallel manipulators whose output link (platform) is provided with a pure translational motion with respect to the frame. The first part deals with the general problem of the topological synthesis and classification of TPMs, that is it identifies the architectures that TPM legs must possess for the platform to be able to freely translate in space without altering its orientation. The second part studies both constraint and direct singularities of TPMs. In particular, special families of fully-isotropic mechanisms are identified. Such manipulators exhibit outstanding properties, as they are free from singularities and show a constant orthogonal Jacobian matrix throughout their workspace. As a consequence, both the direct and the inverse position problems are linear and the kinematic analysis proves straightforward.

Peptide-based low molecular weight gelators for the preparation of self-assembled materials

Low molecular weight gelators (LMWGs) based on pseudo-peptides are here studied for the preparation of supramolecular materials. These compounds can self-assemble through non-covalent interactions such as hydrogen bonds and π-π stacking, forming fibres and gels. A wide variety of materials can be prepared starting from these building blocks, which can be tuned and functionalised depending on the application. In this work, derivatives of the three aromatic amino acids L-Phenylalanine, L-Tyrosine and L-DOPA (3,4-dihydroxiphenylalanine) were synthesised and tested as gelators for water or organic solvents. First, the optimal gelating conditions were studied for each compound, varying concentration, solvent and trigger. Then the materials were characterised in terms of mechanical properties and morphology. Water remediation from dye pollution was the first focus of this work. Organogels were studied as absorbent of dyes from contaminated water. Hydrogels functionalised with TiO2 nanoparticles and graphene platelets were proposed as efficient materials for the photo-degradation of dyes. An efficient method for the incorporation of graphene inside hydrogels using the gelator itself as dispersant was proposed. In these materials a high storage modulus coexists with good self-healing and biocompatibility. The incorporation of a mineral phase inside the gel matrix was then investigated, leading to the preparation of composite organic/inorganic materials. In a first study, the growth of calcium carbonate crystals was achieved inside the hydrogel, which preserved its structure after crystal formation. Then the self-assembled fibres made of LMWGs were used for the first time instead of the polymeric ones as reinforcement inside calcium phosphate cements (CPCs) for bone regeneration. Gel-to-crystal transitions occurring with time in a metastable gel were also examined. The formation of organic crystals in gels can be achieved in multicomponent systems, in which a second gelator constitutes the independent gel network. Finally, some compounds unable to gelate were tested as underwater adhesives.

Low-molecular-weight gels: from the rational design to the application of versatile soft materials

Low-molecular-weight (LMW) gels are a versatile class of soft materials that gained increasing interest over the last few decades. They are made of a small percentage, often lower than 1.0 %, of organic molecules called gelators, dispersed in a liquid medium. Such molecules have a molecular weight usually lower than 1 kDa. The gelator molecules start to interact after the addition of a trigger, and form fibres, whose entanglement traps the solvent through capillary forces. A plethora of LMW gelators have been designed, including short peptides. Such gelators present several advantages: the synthesis is easy and can be easily scaled up; they are usually biocompatible and biodegradable; the gelation phenomenon can be rationalised by making small variation on the peptide scaffold; they find application in several fields. In this thesis, an overview of several peptide based LMW gels is presented. In each study, the gelation conditions were carefully studied, and the final materials were thoroughly investigated. First, the gelation ability of a fluorinated phenylalanine was assessed, to understand how the presence of a rigid moiety and the presence of fluorine may influence the gelation. In this context, a method for the dissolution of sensitive gelators was studied. Then, the control over the gel formation was studied both over time and space, taking advantage of either the pH-annealing of the gel or the reaction-diffusion of a hydrolysing reagent. Some gels were probed for various applications. Due to their ability of trapping water and organic solvents, we used gels for trapping pollutants dissolved in water, as well as a medium for the controlled release of either fragrances or bioactive compounds. Finally, the interaction of the gel matrix with a light-responsive molecule was assessed to understand wether the gel properties or the interaction of the additive with light were affected.

Mechanical behaviour and durability assessment of Fibre Reinforced Cementitious Matrix (FRCM) strengthening systems.

In recent years, the seismic vulnerability of existing masonry buildings has been underscored by the destructive impacts of earthquakes. Therefore, Fibre Reinforced Cementitious Matrix (FRCM) retrofitting systems have gained prominence due to their high strength-to-weight ratio, compatibility with substrates, and potential reversibility. However, concerns linger regarding the durability of these systems when subjected to long-term environmental conditions. This doctoral dissertation addressed these concerns by studying the effects of mild temperature variations on three FRCM systems, featuring basalt, glass, and aramid fibre textiles with lime-based mortar matrices. The study subjected various specimens, including mortar triplets, bare textile specimens, FRCM coupons, and single-lap direct shear wallets, to thermal exposure. A novel approach utilizing embedded thermocouple sensors facilitated efficient monitoring and active control of the conditioning process. A shift in the failure modes was obtained in the single lap-direct shear tests, alongside a significant impact on tensile capacity for both textiles and FRCM coupons. Subsequently, bond tests results were used to indirectly calibrate an analytical approach based on mode-II fracture mechanics. A comparison between Cohesive Material Law (CML) functions at various temperatures was conducted for each of the three systems, demonstrating a good agreement between the analytical model and experimental curves. Furthermore, the durability in alkaline environment of two additional FRCM systems, characterized by basalt and glass fibre textiles with lime-based mortars, was studied through an extensive experimental campaign. Tests conducted on single yarn and textile specimens after exposure at different durations and temperatures revealed a significant impact on tensile capacity. Additionally, FRCM coupons manufactured with conditioned textile were tested to understand the influence of aged textile and curing environment on the final tensile behavior. These results contributed significantly to the existing knowledge on FRCM systems and could be used to develop a standardized alkaline testing protocol, still lacking in the scientific literature.