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Dynamic Model of a Compliant 3PRS Parallel Mechanism for Micromilling
(Springer, 2016-09-10)
The objective of this work is to develop a manipulator of 5 degrees of freedom for micromilling. It consists of a XY stage under a 3PRS compliant parallel mechanism, obtaining the advantages of the compliant joints as are ...
Mechatronic modeling of a parallel kinematics multi-axial simulation table based on decoupling the actuators and manipulator dynamics
(Elsevier, 2016-11-07)
In this work a mechatronic model was developed for a parallel Multi-Axial Simulation Table (MAST) mechanism. The dynamics of the mechanism was obtained using the principle of energy equivalence and Boltzmann–Hamel equations. ...
Experimental Validation of the Kinematic Design of 3PRS Compliant Parallel Mechanisms
(Elsevier, 2016-11)
In this paper, a procedure for the kinematic design of a 3-PRS compliant parallel manipulator of 3 degrees of freedom is proposed. First, under the assumption of small displacements, the solid body kinematics of the 3-PRS ...
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 ...
Design methodology for MAST-type parallel manipulators based on kinematic, dynamic and stiffness criteria: theoretical and experimental application to the 2PRU-1PRS
(2016-07-01)
This thesis presents research in the field of parallel manipulators. We can basically divideindustrial robots in two groups ¿ parallel and serial manipulators. Parallel manipulators are composed ofa mobile and a fixed ...
Translational parallel manipulator with Pa2 kinematic joints
(Springer, 2016-10-01)
The kinematic pair Pa2 is composed of two interlinked parallelograms. It has two degrees of freedom that generate a translational plane variable with position. It has a structure different from the PaPa pair, which is ...
On the influence of conformity on wheel–rail rolling contact mechanics
(Elsevier, 2016-07)
The aim of this work is to assess the effects of conformity on local contact related quantities at the wheel–rail interface such as traction distributions, subsurface stresses and frictional work distributions.
For this ...
A feedforward controller for tuning laser cladding melt pool geometry in real time
(Springer, 2016-07-12)
In this paper, a feedforward proportional-integral (PI) controller is developed to effectively control and tune the laser cladding melt pool geometry in real time. Width setpoint is included in the computer numerically ...
Analysis of the regimes in the scanner-based laser hardening process
(Elsevier, 2016-10-10)
Laser hardening is becoming a consolidated process in different industrial sectors such as the automotive industry or in the die and mold industry. The key to ensure the success in this process is to control the surface ...
Control loop tuning by thermal simulation applied to the laser transformation hardening with scanning optics process
(Elsevier, 2016-04)
Laser transformation hardening with scanning optics (LTHS) is a novel manufacturing process on a very preliminary stage of introducing it in the surface treatment industry. The key to ensure the success in this process is ...