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Matteo Verotti
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Journal Articles

A Proportional Control Strategy for Stiffness Tuning of Parallel Manipulators

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Matteo Verotti, Marco Morandini, Pierangelo Masarati
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071003.
Paper No: JMR-24-1543
https://doi.org/10.1115/1.4067626
Published Online: February 11, 2025
View Articletitled, A Proportional Control Strategy for Stiffness Tuning of Parallel Manipulators
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Topics: End effectors, Manipulators, Stiffness, Displacement, Rotation, Friction
Proceedings Papers

Design of Compliant Pivots Based on Three-Flexure Arrangement

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Simone Serafino, Luca Bruzzone, Pietro Fanghella, Matteo Verotti
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A013, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143580
https://doi.org/10.1115/DETC2024-143580
View Paper titled, Design of Compliant Pivots Based on Three-Flexure Arrangement
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Topics: Bending (Stress), Design, Stiffness, Engineering simulation, Finite element analysis, Optimization, Simulation
Proceedings Papers

Fabrication of Rotary Comb Drives With Floating Center

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Matteo Verotti, Alvise Bagolini, Leandro Lorenzelli, Rocco Crescenzi, Nicola Pio Belfiore
Proc. ASME. IDETC-CIE2024, Volume 8: 18th International Conference on Micro- and Nanosystems (MNS), V008T08A007, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143428
https://doi.org/10.1115/DETC2024-143428
View Paper titled, Fabrication of Rotary Comb Drives With Floating Center
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Topics: Manufacturing, Linkages, Design, Kinematics, Microelectromechanical systems, Semiconductor wafers, Silicon-on-insulator, Engineering prototypes, Etching, Grasping
Proceedings Papers

An Application of the Stability Circle to the Design of MEMS Technology Based Systems With Floating Center Rotary Comb Drives

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Nicola Pio Belfiore, Serena Coppola, Alessandro Muccichini, Cristiano Piroddi, Matteo Verotti
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A039, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143466
https://doi.org/10.1115/DETC2024-143466
View Paper titled, An Application of the Stability Circle to the Design of MEMS Technology Based Systems With Floating Center Rotary Comb Drives
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Topics: Design, Microelectromechanical systems, Stability, Torque, Actuators
Proceedings Papers

Design of Compliant Mechanisms Approximating Straight and Circular Paths

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Matteo Verotti
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A018, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143972
https://doi.org/10.1115/DETC2024-143972
View Paper titled, Design of Compliant Mechanisms Approximating Straight and Circular Paths
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Topics: Compliant mechanisms, Design, Deflection, Kinematics, Deformation, Poles (Building)
Journal Articles

Design of High-Performance Triple-Axis Cross Pivots

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Simone Serafino, Luca Bruzzone, Pietro Fanghella, Matteo Verotti
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021004.
Paper No: JMR-24-1145
https://doi.org/10.1115/1.4065749
Published Online: July 19, 2024
View Articletitled, Design of High-Performance Triple-Axis Cross Pivots
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Topics: Design, Finite element analysis, Stiffness, Stress, Bending (Stress), Rotation
Proceedings Papers

Application of the Ellipse of Elasticity to an Hybrid-Chain Compliant Mechanism

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Orazio Sorgonà, Oliviero Giannini, Matteo Verotti
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A033, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115219
https://doi.org/10.1115/DETC2023-115219
View Paper titled, Application of the Ellipse of Elasticity to an Hybrid-Chain Compliant Mechanism
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Topics: Chain, Compliant mechanisms, Elasticity
Proceedings Papers

Effect of Cross-Axis Pivots Orientation on Accuracy Performance of Compliant Mechanisms

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Simone Serafino, Pietro Fanghella, Matteo Verotti
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A034, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115226
https://doi.org/10.1115/DETC2023-115226
View Paper titled, Effect of Cross-Axis Pivots Orientation on Accuracy Performance of Compliant Mechanisms
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Topics: Compliant mechanisms, Rotation, Computer simulation, Design, Bending (Stress), Engineering systems and industry applications, Kinematics, Linkages
Proceedings Papers

Accuracy of Initially-Curved Cross-Axis Flexural Pivots

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Simone Serafino, Pietro Fanghella, Matteo Verotti
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A001, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-88255
https://doi.org/10.1115/DETC2022-88255
View Paper titled, Accuracy of Initially-Curved Cross-Axis Flexural Pivots
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Topics: Bending (Stress), Computer simulation, Degrees of freedom, Design, Geometry, Poles (Building), Precision engineering, Robotics
Journal Articles

Kinematic Synthesis of a D-Drive MEMS Device With Rigid-Body Replacement Method

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Paolo Sanò, Matteo Verotti, Paolo Bosetti, Nicola P. Belfiore
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. July 2018, 140(7): 075001.
Paper No: MD-17-1606
https://doi.org/10.1115/1.4039853
Published Online: April 25, 2018
View Articletitled, Kinematic Synthesis of a D-Drive MEMS Device With Rigid-Body Replacement Method
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Topics: Design, Kinematics, Microelectromechanical systems, Simulation, Finite element analysis, Compliant mechanisms, Manufacturing, Displacement
Journal Articles

A Comprehensive Survey on Microgrippers Design: Operational Strategy

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Alden Dochshanov, Matteo Verotti, Nicola P. Belfiore
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Review Articles
J. Mech. Des. July 2017, 139(7): 070801.
Paper No: MD-16-1536
https://doi.org/10.1115/1.4036352
Published Online: May 10, 2017
View Articletitled, A Comprehensive Survey on Microgrippers Design: Operational Strategy
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Topics: Actuators, Design, Displacement, Microelectromechanical systems, Sensors, Manufacturing, Manganese (Metal), Temperature
Journal Articles

A Comprehensive Survey on Microgrippers Design: Mechanical Structure

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Matteo Verotti, Alden Dochshanov, Nicola P. Belfiore
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Review Articles
J. Mech. Des. June 2017, 139(6): 060801.
Paper No: MD-16-1535
https://doi.org/10.1115/1.4036351
Published Online: May 3, 2017
View Articletitled, A Comprehensive Survey on Microgrippers Design: Mechanical Structure
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Topics: Compliant mechanisms, Design, Geometry, Grippers, Kinematic chains, Mechanical structures, Microelectromechanical systems, Kinematics
Journal Articles

Compliance Synthesis of CSFH MEMS-Based Microgrippers

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Matteo Verotti, Alden Dochshanov, Nicola P. Belfiore
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. February 2017, 139(2): 022301.
Paper No: MD-16-1313
https://doi.org/10.1115/1.4035053
Published Online: November 14, 2016
View Articletitled, Compliance Synthesis of CSFH MEMS-Based Microgrippers
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Topics: Compliant mechanisms, Design, Microelectromechanical systems, Simulation, Stiffness, Finite element analysis, Anisotropy, Silicon
Journal Articles

Isotropic Compliance in E (3): Feasibility and Workspace Mapping

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Matteo Verotti, Nicola P. Belfiore
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061005.
Paper No: JMR-15-1245
https://doi.org/10.1115/1.4032408
Published Online: September 6, 2016
View Articletitled, Isotropic Compliance in E (3): Feasibility and Workspace Mapping
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Topics: Manipulators
Journal Articles

MEMS-Based Conjugate Surfaces Flexure Hinge

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Matteo Verotti, Rocco Crescenzi, Marco Balucani, Nicola P. Belfiore
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. January 2015, 137(1): 012301.
Paper No: MD-14-1242
https://doi.org/10.1115/1.4028791
Published Online: January 1, 2015
View Articletitled, MEMS-Based Conjugate Surfaces Flexure Hinge
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Topics: Bending (Stress), Compliant mechanisms, Hinges, Microelectromechanical systems, Stress, Silicon, Engineering prototypes, Finite element analysis
Proceedings Papers

Optimal Joint Stiffness Regulation in a Planar Robot for Packaging Operations

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Nicola P. Belfiore, Matteo Verotti, Fabio Ciavaglia
Proc. ASME. ESDA2014, Volume 3: Engineering Systems; Heat Transfer and Thermal Engineering; Materials and Tribology; Mechatronics; Robotics, V003T17A005, July 25–27, 2014
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2014-20331
https://doi.org/10.1115/ESDA2014-20331
View Paper titled, Optimal Joint Stiffness Regulation in a Planar Robot for Packaging Operations
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Topics: Packaging, Robots, Stiffness, Manipulators, Control systems, Displacement, Friction, Optimization, Wear
Proceedings Papers

Energy Harvesting From Base Excitation of a Biomimetic Fish Tail Hosting Ionic Polymer Metal Composites

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Youngsu Cha, Matteo Verotti, Horace Walcott, Sean D. Peterson, Maurizio Porfiri
Proc. ASME. SMASIS2013, Volume 2: Mechanics and Behavior of Active Materials; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting, V002T07A013, September 16–18, 2013
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2013-3127
https://doi.org/10.1115/SMASIS2013-3127
View Paper titled, Energy Harvesting From Base Excitation of a Biomimetic Fish Tail Hosting Ionic Polymer Metal Composites
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Topics: Biomimetics, Energy harvesting, Excitation, Metallic composites, Polymers, Vibration, Cantilever beams, Design, Fluids, Modeling
Proceedings Papers

Performance Analysis of Compliant MEMS Parallel Robots Through Pseudo-Rigid-Body Model Synthesis

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Nicola Pio Belfiore, Marco Balucani, Rocco Crescenzi, Matteo Verotti
Proc. ASME. ESDA2012, Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering, 329-334, July 2–4, 2012
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2012-82636
https://doi.org/10.1115/ESDA2012-82636
View Paper titled, Performance Analysis of Compliant MEMS Parallel Robots Through Pseudo-Rigid-Body Model Synthesis
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Topics: Microelectromechanical systems, Robots, Manipulators, Compliant mechanisms, Computers, Design, Engineering prototypes, Hinges, Kinematic analysis, Kinematics
Journal Articles

Active Joint Stiffness Regulation to Achieve Isotropic Compliance in the Euclidean Space

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Nicola P. Belfiore, Matteo Verotti, Paolo Di Giamberardino, Imre J. Rudas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2012, 4(4): 041010.
https://doi.org/10.1115/1.4007307
Published Online: September 17, 2012
View Articletitled, Active Joint Stiffness Regulation to Achieve Isotropic Compliance in the Euclidean Space
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Topics: Manipulators, Stiffness, Robots