{"id":76901,"date":"2018-03-09T23:22:20","date_gmt":"2018-03-09T23:22:20","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/diseno-mecanico-de-dispositivos-hapticos-de-gran-espacio-de-trabajo-aplicacion-al-sector-aeronautico\/"},"modified":"2018-03-09T23:22:20","modified_gmt":"2018-03-09T23:22:20","slug":"diseno-mecanico-de-dispositivos-hapticos-de-gran-espacio-de-trabajo-aplicacion-al-sector-aeronautico","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/diseno-de-maquinas\/diseno-mecanico-de-dispositivos-hapticos-de-gran-espacio-de-trabajo-aplicacion-al-sector-aeronautico\/","title":{"rendered":"Dise\u00f1o mec\u00e1nico de dispositivos h\u00e1pticos de gran espacio de trabajo: aplicaci\u00f3n al sector aeron\u00e1utico"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Joan Salvador Savall Calbo <\/strong><\/h2>\n<p>Dise\u00f1o mec\u00e1nico de dispositivos hapticos de gran espacio de trabajo: aplicaci\u00f3n al sector aeron\u00e1utico resumen: el presente trabajo forma parte de un proyecto multidisciplinar que engloba el desarrollo de hardware, software, algoritmos de control y comunicaciones de un sistema de realidad virtual, especialmente desarrollado para abordar estudios de mantenibilidad dentro de la industria aeron\u00e1utica. Concretamente el tema abordado por esta tesis es el estudio, dise\u00f1o y construcci\u00f3n de un dispositivo h\u00e1ptico de gran espacio de trabajo.Se entiende por h\u00e1ptica como aquella tecnolog\u00eda pluridisciplinar que se ocupa de la investigaci\u00f3n, el desarrollo y la aplicaci\u00f3n de los sistemas de comunicaci\u00f3n entre el entorno y el hombre, a trav\u00e9s del tacto activo de \u00e9ste. Los estudios llevados a cabo dentro del contexto de esta tesis, est\u00e1n centrados en el dise\u00f1o mec\u00e1nico del manipulador, responsable de la restituci\u00f3n del   sentido del tacto en una aplicaci\u00f3n de la realidad virtual al mundo de la mantenibilidad. Se han estudiado las restricciones impuestas por el sentido del tacto y obtenido las principales reglas de dise\u00f1o de dispositivos encargados de la restituci\u00f3n de la fuerza y el tacto para interactuar con entornos virtuales. La mec\u00e1nica utilizada en el dise\u00f1o de este tipo de manipuladores dista de la mec\u00e1nica adoptada en los robots convencionales. Es por ello por lo que se han estudiado nuevos esquemas cinem\u00e1ticos, nuevos accionamientos y nuevas transmisiones. Especial protagonismo han adquirido las transmisiones por cable, de las que se estudian en profundidad las de tipo rotativo y se presenta un nuevo dise\u00f1o de tipo lineal. Se introduce una   nueva topolog\u00eda cinem\u00e1tica de la que se estudian aspectos como la m\u00ednima fuerza garant\u00edzable, la reducci\u00f3n de la inercia aparente o su compensaci\u00f3n gravitatoria. La forma y tama\u00f1o del espacio de trabajo, as\u00ed como el nivel de fuerzas alcanzado, hacen posible la utilizaci\u00f3n del dispositivo en otros campos como el de la rehabilitaci\u00f3n o el de los estudios ergon\u00f3micos. the research of this work is integrated in a multidisciplinary project, which covers different areas, like hardware design, software development and control algorithms of a virtual reality system, especiany conceived for evaluating the maintainability of aircraft engines. The specific goals of this thesis are the conception, design and manufacture of a haptic interface with large workspace. Nowadays, the use of physical mock-ups is mandatory to evaluate the maintainability of the engine externals in the development stage. Due to the high cost of the physical mock-ups and to reduce the development times, it is important to develop virtual reality systems to evaluate the maintainability of aircraft engines. Hapties is the science of applying tactile sensation to human interaction with computers. A haptic device is one that involves physical contact between the computer and the user. By using haptic devices, the user can not only feed information to the computer but can receive information from the computer in the form of a felt sensation on some part of the body. The haptic interface developed is floor-grounded force-feedback hardware, conceived for maintainability simulation in aeronautics. It is designed and built to realistically simulate assembly-disassembly operations, as well as maintainability analysis by using virtual reality techniques without physical mock-ups. The system provides force feedback in three transitional degrees of freedom while three additional orientations are measured, but not actuated, by a special wrist. The basic workspace of the haptic interface occupies a cylindrical sector, which corresponds to a wide work area of a virtual 3d aircraft engine full-scale mock-up. In addition, this workspace can be placed in different positions to study ergonomics aspects of the simulated tasks. The haptic device presents special characteristics which extend its use to others applications where large force and workspace are required.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Dise\u00f1o mec\u00e1nico de dispositivos h\u00e1pticos de gran espacio de trabajo: aplicaci\u00f3n al sector aeron\u00e1utico<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Dise\u00f1o mec\u00e1nico de dispositivos h\u00e1pticos de gran espacio de trabajo: aplicaci\u00f3n al sector aeron\u00e1utico <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Joan Salvador Savall Calbo <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Navarra<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 27\/10\/2005<\/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>Alejo Avello Iturriagagoitia<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Miguel angel Serna oliveira <\/li>\n<li>pere Brunel crosa (vocal)<\/li>\n<li>Francisco Javier Cuadrado aranda (vocal)<\/li>\n<li>Francisco Javier Nieto fernandez (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Joan Salvador Savall Calbo Dise\u00f1o mec\u00e1nico de dispositivos hapticos de gran espacio de trabajo: aplicaci\u00f3n al sector [&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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