{"id":4382,"date":"1994-01-01T00:00:00","date_gmt":"1994-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/1994\/01\/01\/diseno-construccion-y-estudio-experimental-de-un-robot-flexible-tridimensional\/"},"modified":"1994-01-01T00:00:00","modified_gmt":"1994-01-01T00:00:00","slug":"diseno-construccion-y-estudio-experimental-de-un-robot-flexible-tridimensional","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/diseno-construccion-y-estudio-experimental-de-un-robot-flexible-tridimensional\/","title":{"rendered":"Dise\u00f1o, construccion y estudio experimental de un robot flexible tridimensional."},"content":{"rendered":"<h2>Tesis doctoral de <strong>  Jacobus Davalos Roberto Francisco <\/strong><\/h2>\n<p>Un robot flexible es aquel robot en el cual algunos de sus elementos constructivos tienen una elasticidad considerable comparada con la elasticidad de los elementos de los robots tradicionales, considerados rigidos. La presente memoria resume el proceso seguido para el desarrollo de un robot manipulador flexible de tres grados de libertad: el robot flexible ceit. Los diez capitulos de la tesis se estructuran en tres partes. Las dos primeras se asocian con el dise\u00f1o y construccion del sistema robotico. La tercera parte presenta los resultados de un estudio experimental realizado sobre el robot. Previa a la primera parte se hace una introduccion al campo de la robotica flexible.  primera parte: dise\u00f1o del brazo mecanico. El primer capitulo es una introduccion a los robots flexibles. Hace una revision de los tipos de robots flexibles que existen, con especial enfasis en los aspectos relacionados con el dise\u00f1o de los mismos. El segundo capitulo presenta conceptos importantes del dise\u00f1o de los robots manipuladores en general y se resaltan aquellos que revisten especial interes para la construccion de manipuladores flexibles. Los cuatro capitulos siguientes describen el dise\u00f1o de las partes principales del manipulador: los miembros del brazo, las articulaciones y los actuadores.  segunda parte: sistema sensorial y de control. La segunda parte recoge aspectos relacionados con la electronica del robot. El capitulo siete trata acerca de las necesidades de sensorizacion de los robots en general y las particulares de los robots flexibles. Presenta las alternativas de sensorizacion y la configuracion seleccionada para el sistema sensorial del r.F. Ceit. El octavo capitulo presenta la configuracion del sistema de control del robot, es decir, el hardware necesario para controlar el brazo mecanico. En este capitulo se hace una revision de las posibles alternativas para la realizacion de un equipo de control. Asimismo se presentan las arq<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Dise\u00f1o, construccion y estudio experimental de un robot flexible tridimensional.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Dise\u00f1o, construccion y estudio experimental de un robot flexible tridimensional. <\/li>\n<li><strong>Autor:<\/strong>\u00a0  Jacobus Davalos Roberto Francisco <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Navarra<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/01\/1994<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Miguel Angel Serna Oliveira<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Francisco Javier Garcia De Jalon De La Fuente <\/li>\n<li>Rafael Avil\u00e9s Gonz\u00e1lez (vocal)<\/li>\n<li> Aguinaga Torrano Joaquin Mar\u00eda (vocal)<\/li>\n<li>Jos\u00e9 German Gimenez Ortiz (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Jacobus Davalos Roberto Francisco Un robot flexible es aquel robot en el cual algunos de sus elementos [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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