{"id":98930,"date":"2010-01-02T00:00:00","date_gmt":"2010-01-02T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/espacios-de-trabajo-asociados-a-modos-de-ensamblado-de-robots-paralelos\/"},"modified":"2010-01-02T00:00:00","modified_gmt":"2010-01-02T00:00:00","slug":"espacios-de-trabajo-asociados-a-modos-de-ensamblado-de-robots-paralelos","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/diseno-de-maquinas\/espacios-de-trabajo-asociados-a-modos-de-ensamblado-de-robots-paralelos\/","title":{"rendered":"Espacios de trabajo asociados a modos de ensamblado de robots paralelos"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Erik Macho Mier <\/strong><\/h2>\n<p>El espacio de trabajo es uno de los criterios de dise\u00f1o fundamentales en robots de cinem\u00e1tica paralela. En esta tesis se aborda la determinaci\u00f3n del conjunto m\u00e1s amplio de posiciones que un robot de este tipo es capaz de alcanzar a partir de una dada. se define el concepto de espacio de trabajo operacional ampliado, que proviene de la uni\u00f3n de varias regiones libres de singularidades. Se proporcionan las estrategias de planificaci\u00f3n de transiciones controladas entre los distintos modos de trabajo del manipulador que permitan realizar movimientos seguros en su interior. se profundiza en el estudio de las transiciones no singulares entre soluciones del problema de posici\u00f3n directo, diferenciando este concepto del de modos de ensamblado. Se obtienen las condiciones matem\u00e1ticas que dan una explicaci\u00f3n generalizada al fen\u00f3meno, mediante el empleo del espacio de configuraci\u00f3n reducido, cuyo manejo permite el dise\u00f1o de mecanismos con espacio de trabajo m\u00e1s grandes en relaci\u00f3n a su tama\u00f1o. se presenta un procedimiento de prop\u00f3sito general, de car\u00e1cter discreto-anal\u00edtico, para la obtenci\u00f3n del espacio de trabajo y la realizaci\u00f3n del an\u00e1lisis de singularidades, que proporciona para cualquier manipulador totalmente paralelo, plano o espacial, todas las regiones del espacio de trabajo libres de singularidades. todos los desarrollos te\u00f3ricos han sido implementados en una aplicaci\u00f3n inform\u00e1tica de simulaci\u00f3n de mecanismos. Se trata de una herramienta de c\u00e1lculo pr\u00e1ctica, para la que se ha dise\u00f1ado una interfaz \u00e1gil y flexible, que permite calcular los espacios de trabajo asociados a modos de ensamblado de robots paralelos.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Espacios de trabajo asociados a modos de ensamblado de robots paralelos<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Espacios de trabajo asociados a modos de ensamblado de robots paralelos <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Erik Macho Mier <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Pa\u00eds vasco\/euskal herriko unibertsitatea<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/02\/2010<\/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>Alfonso Hern\u00e1ndez Fr\u00edas<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: rafael Avil\u00e9s gonz\u00e1lez <\/li>\n<li>Jes\u00fas Mar\u00eda Pintor borobia (vocal)<\/li>\n<li>Andr\u00e9s Kecskemethy (vocal)<\/li>\n<li>federico Thomas arroyo (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Erik Macho Mier El espacio de trabajo es uno de los criterios de dise\u00f1o fundamentales en robots [&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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