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Control Distribution of Partially Decoupled Multi-level Manipulators with 5 DOFs
(Cambridge University Press, 2017-02-01)
Multi-level manipulators are those mechanisms in which two or more levels,
that de ne the main chain of the manipulator, are joined in parallel to
each other. Besides, each level is linked to the base in parallel by ...
Mechatronic Model Based Jerk Optimization in Servodrives with Compliant Load
(Springer Nature Switzerland AG, 2018-08-02)
The aim of this work is to develop a mechatronic model for servodrives that move a compliant load, which is the case of large heavy machine tools. The model integrates the dynamics of the motor, transmission chain and ...
Evaluation of the Bond-to-Concrete Properties of GFRP Rebars in Marine Environments
(MDPI, 2018-10-08)
Increased traffic in combination with growing environmental impacts have led to the accelerated degradation of built infrastructure. In reinforced concrete structures, the corrosion of steel reinforcement is the predominant ...
A robot for welding inspection in offshore mooring chains
(Springer, 2018-08-31)
In this paper, the authors present the CIRUS robot. This automatic system uses a combination of pulse-echo and pitch and catch ultrasonic strategies for the inspection of the welded area of mooring chain links in an automatic ...
A robot for non-destructive testing weld inspection of offshore mooring chains
(SAGE Publications Inc., 2018-05-09)
Welding flaw detection is a key step in manufacturing many components. In offshore chains, every link is manufactured from a steel bar that is bent and the ends joined by flash butt welding. Ultrasonic inspection of the ...
Design, Construction and Testing of a Hydraulic Power Take-Off for Wave Energy Converters
(MDPI, 2012-06)
This paper presents the construction, mathematical modeling and testing of a scaled universal hydraulic Power Take-Off (PTO) device for Wave Energy Converters (WECs). A specific prototype and test bench were designed and ...
Structural Synthesis of 3-DoF Spatial Fully Parallel Manipulators
(Intech Europe, 2014-07-16)
In this paper, the architectures of three degrees of freedom (3-DoF) spatial, fully parallel manipulators (PMs), whose limbs are structurally identical, are obtained systematically. To do this, the methodology followed ...
Effect of mounting misalignments on the tribological behaviour of elastomeric seals: analytical predictive models and experimental validation
(2016-07-14)
La presente tesis aborda el estudio del efecto de las excentricidades de montaje de ejes en el comportamiento tribológica de juntas elastoméricas, contribuyendo así a la escasez de estudios existentes relacionados con la ...
Metodología para el control del temple y el acabado de componentes de precisión endurecidos mediante grind-hardening
(2015-07-03)
El grind-hardening es una tecnología que aprovecha el calor generado durante el rectificado para generar un endurecimiento superficial de la pieza. De esta forma, el endurecimiento y acabado de la pieza pueden realizarse ...
Análisis y optimización del comportamiento mecánico de implantes dentales mediante simulación numérica
(2015-10-22)
El objetivo de la presente tesis doctoral es profundizar en el conocimiento del comportamiento biomecánico de los implantes dentales, las estructuras sobre implantes dentales y los microimplantes utilizados tanto como ...