Advanced search options

Advanced Search Options 🞨

Browse by author name (“Author name starts with…”).

Find ETDs with:

in
/  
in
/  
in
/  
in

Written in Published in Earliest date Latest date

Sorted by

Results per page:

You searched for id:"handle:10810/26266". One record found.

Search Limiters

Last 2 Years | English Only

No search limiters apply to these results.

▼ Search Limiters


Euskal Herriko Unibertsitatea / Universidad del País Vasco

1. Herrero Villalibre, Saioa. Design methodology for MAST-type parallel manipulators based on kinematic, dynamic and stiffness criteria: theoretical and experimental application to the 2PRU-1PRS .

Degree: 2016, Euskal Herriko Unibertsitatea / Universidad del País Vasco

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 platform connected by several legs. They are of great interest for industrialapplication because they are more rigid and display better dynamic performance than serial manipulators.We focus on the design of parallel manipulators and, specifically, on the multi-axis shaking tables(MAST).Thesemachines are linkage-based systems that generate a coupled motion in their end-effectorby combining translations and rotations. Their main applications are the dynamic testing of structures ormechanical components ¿ they are essential to experimentally verify the safety and reliability of pieces orstructures under dynamic load conditions.In this thesis we present two methodologies. The first one analyses the performance of a MASTtypeparallel manipulator with known geometric parameters. The second one optimizes the geometricparameters taking into account two performances ¿ the size and regularity of the workspace and thepower consumption. Even though we particularize them for the 2PRU-1PRS parallel manipulator, bothmethodologies are valid for any MAST-type parallel manipulator. Moreover, we present the developmentof a prototype of the 2PRU-1PRS parallel manipulator, which we use tovalidate the methodologies proposed. Advisors/Committee Members: Pinto Cámara, Charles Richard (advisor).

Subjects/Keywords: machine design; diseño de máquinas

Record DetailsSimilar RecordsGoogle PlusoneFacebookTwitterCiteULikeMendeleyreddit

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Herrero Villalibre, S. (2016). Design methodology for MAST-type parallel manipulators based on kinematic, dynamic and stiffness criteria: theoretical and experimental application to the 2PRU-1PRS . (Doctoral Dissertation). Euskal Herriko Unibertsitatea / Universidad del País Vasco. Retrieved from http://hdl.handle.net/10810/26266

Chicago Manual of Style (16th Edition):

Herrero Villalibre, Saioa. “Design methodology for MAST-type parallel manipulators based on kinematic, dynamic and stiffness criteria: theoretical and experimental application to the 2PRU-1PRS .” 2016. Doctoral Dissertation, Euskal Herriko Unibertsitatea / Universidad del País Vasco. Accessed December 16, 2018. http://hdl.handle.net/10810/26266.

MLA Handbook (7th Edition):

Herrero Villalibre, Saioa. “Design methodology for MAST-type parallel manipulators based on kinematic, dynamic and stiffness criteria: theoretical and experimental application to the 2PRU-1PRS .” 2016. Web. 16 Dec 2018.

Vancouver:

Herrero Villalibre S. Design methodology for MAST-type parallel manipulators based on kinematic, dynamic and stiffness criteria: theoretical and experimental application to the 2PRU-1PRS . [Internet] [Doctoral dissertation]. Euskal Herriko Unibertsitatea / Universidad del País Vasco; 2016. [cited 2018 Dec 16]. Available from: http://hdl.handle.net/10810/26266.

Council of Science Editors:

Herrero Villalibre S. Design methodology for MAST-type parallel manipulators based on kinematic, dynamic and stiffness criteria: theoretical and experimental application to the 2PRU-1PRS . [Doctoral Dissertation]. Euskal Herriko Unibertsitatea / Universidad del País Vasco; 2016. Available from: http://hdl.handle.net/10810/26266

.