Integration of robotic inverse kinematic routines in an algorithmic 3D modeling software

An industrial manipulator equipped with an automatic clay extruder is used to realize a machine that can manufacture additively clay objects. The desired geometries are designed by means of a 3D modeling software and then sliced in a sequence of layers with the same thickness of the extruded clay section. The profiles of each layer are transformed in trajectories for the extruder and therefore for the end-effector of the manipulator. The goal of this thesis is to improve the algorithm for the inverse kinematic resolution and the integration of the routine within the development software that controls the machine (Rhino/Grasshopper). The kinematic model is described by homogeneous transformations, adopting the Denavit-Hartenberg standard convention. The function is implemented in C# and it has been preliminarily tested in Matlab. The outcome of this work is a substantial reduction of the computation time relative to the execution of the algorithm, which is halved.

Extraction of antioxidants from corn by-products for applications in bio-based polymer matrices

The objective of this dissertation is the evaluation of the exploitability of corn cobs as natural additives for bio-based polymer matrices, in order to hone their properties while keeping the fundamental quality of being fully bio-derived. The first part of the project has the purpose of finding the best solvent and conditions to extract antioxidants and anti-degrading molecules from corn cobs, exploiting room and high-temperature processes, traditional and advanced extraction methods, as well as polar and nonpolar solvents. The extracts in their entirety are then analysed to evaluate their antioxidant content, in order to select the conditions able to maximise their anti-degrading properties. The second part of the project, instead, focuses on assessing chemical and physical properties of the best-behaving extract when inserted in a polymeric matrix. To achieve this, low-density polyethylene (LDPE) and poly (butylene succinate – co – adipate) (PBSA) are employed. These samples are obtained through extrusion and are subsequently characterised exploiting the DSC equipment and a sinusoidally oscillating rheometer. In addition, extruded polymeric matrices are subjected to thermal and photo ageing, in order to identify their behaviour after different forms of degradation and to assess their performances with respect to synthetically produced anti-degrading additives.