Exploració per autor "Pérez Gracia, Alba"
Ara es mostren els items 7-26 de 53
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Bennet's Linkage and the Cylindroid
Pérez Gracia, Alba; McCarthy, John Michael (2002)
Article
Accés obertBennett’s linkage is a spatial 4R closed chain that can move with one degree of freedom. The set of relative displacement screws that form the one-dimensional workspace of this device defines a ruled surface known as a ... -
Clifford Algebra Representation of Grasping and Manipulative Hand Actions for Kinematic Synthesis
Pérez Gracia, Alba; Thomas, Federico (Facultat d'Informàtica de Barcelona (UPC), 2015)
Text en actes de congrés
Accés restringit per política de l'editorialThe dimensional synthesis of wristed, multi-fingered hands for simultaneous tasks of all fingertips is an active field of research. When defining unconstrained positions for the fingers, this problem is solved by equating ... -
Coupling Mechanisms for Multi-Fingered Robotic Hands with Skew Axes
Deemyad, Taher; Hassanzadeh, Neda; Pérez Gracia, Alba (Springer, 2018)
Text en actes de congrés
Accés restringit per política de l'editorialThe design of wristed, multi-fingered robotic hands for specific tasks usually leads to solutions in which the position of the joint axes have little to do with those of anthropomorphic hands. Joint axes tend to be skewed, ... -
De tierra firme a la nube en un salto: Teoría de Máquinas y Mecanismos y Vibraciones Mecánicas en la ETSEIB
Jordi Nebot, Lluïsa; Puig Ortiz, Joan; Zayas Figueras, Enrique Ernesto; Pérez Gracia, Alba (2021)
Comunicació de congrés
Accés restringit per política de l'editorialEste trabajo expone las medidas adoptadas en el cambio de docencia presencial a no presencial en las asignaturas de Teoría de Máquinas y Mecanismos y Vibraciones Mecánicas en la Escuela Técnica Superior de Ingeniería ... -
Design method for a reconfigurable mechanism for finger rehabilitation
Sands, Davin; Pérez Gracia, Alba; McCormack, Jay; Wolbrecht, Eric T. (2010)
Text en actes de congrés
Accés obertThis paper presents a design method for a reconfigurable single degree-of-freedom mechanism for robotic assisted finger therapy following a stroke. The mechanism is a four-bar linkage that in combination with variable link ... -
Design of a Dexterous Hand for a Multi-Hand Task
Hassanzadeh, Neda; Movassagh-Kaniki, Reza; Pérez Gracia, Alba (Springer, 2016)
Text en actes de congrés
Accés restringit per política de l'editorialKinematic synthesis applied to tree topologies is a tool for the design of multi-fingered robotic hands, for a simultaneous task of all fingertips. Dexterous multi-fingered robotic hands can be designed to perform collaborative ... -
Design of a Multi-palm Robotic Hand for Assembly Tasks
Movassagh-Kaniki, Reza; Hassanzadeh, Neda; Makhal, Abhijit; Pérez Gracia, Alba (2016)
Text en actes de congrés
Accés restringit per política de l'editorialSome robotic tasks, especially those in which there are interactions between manipulated objects, require the collaborative work of two robotic arms equipped with end-effector grippers or robotic hands. Most of the current ... -
Design of a Prosthetic Hand with Remote Actuation
Scott, K.; Pérez Gracia, Alba (Institute of Electrical and Electronics Engineers (IEEE), 2013)
Text en actes de congrés
Accés restringit per política de l'editorialOne of the main issues of prosthetic hands is to be able to fulfill all the specifications about speed, torque, weight and inertia while placing all the components within the prosthetic hand. This is especially true when ... -
Design of a robotic hand and simple EMG input controller with a biologically-inspired parallel actuation system for prosthetic applications
Crawford, Anthony; Molitor, Jeffrey; Pérez Gracia, Alba; Chiu, Steve (2010)
Text en actes de congrés
Accés obertThis paper presents the mechatronic design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the ... -
Design of a robotic hand with a biologically-inspired parallel actuation system for prosthetic applications
Crawford, Anthony; Pérez Gracia, Alba (ASME PRESS, 2010)
Text en actes de congrés
Accés restringit per política de l'editorialThis paper presents the design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the behavior/strength ... -
Design of an Exoskeleton as a Finger-Joint Angular Sensor
Pérez Gracia, Alba; Yihun, Yimesker; Rahman, M.S. (2012)
Text en actes de congrés
Accés restringit per política de l'editorialEstimation of joint angles for human joints is important for many applications in bioengineering. Most of the existing angular joint sensors rely on the approximate assumption of the knowledge of the type of motion and ... -
Design of non-anthropomorphic robotic hands for anthropomorphic tasks
Simó Serra, Edgar; Moreno-Noguer, Francesc; Pérez Gracia, Alba (2011)
Text en actes de congrés
Accés obertIn this paper, we explore the idea of designing non- anthropomorphic multi-fingered robotic hands for tasks tha t replicate the motion of the human hand. Taking as input data a finite set of rigid-body positions for the ... -
Dimensional Synthesis of Bennett Linkages
Pérez Gracia, Alba; McCarthy, John Michael (2000)
Text en actes de congrés
Accés restringit per política de l'editorialThis paper presents a synthesis procedure for a spatial 4R linkage, known as Bennett’s linkage. It is known that the two solutions of the RR chain synthesis equations form a Bennett linkage. While analytical solutions to ... -
Dimensional Synthesis of CRR Serial Chains
Pérez Gracia, Alba; McCarthy, John Michael (American Society of Mechanical Engineers (ASME), 2003)
Text en actes de congrés
Accés restringit per política de l'editorialThis paper presents the kinematic synthesis of a CRR serial chain. This is a four-degree-of-freedom chain constructed from a cylindric joint and two revolute joints in series. The design equations for this chain are obtained ... -
Dimensional Synthesis of One-Jointed Multi-Fingered Hands
Pérez Gracia, Alba (Springer, 2015)
Text en actes de congrés
Accés restringit per política de l'editorialWristed, multi-fingered hands can be designed for specific tasks, leading to an optimized performance and simplicity. In this work we present the design of the simplest family of multi-fingered hands, with one revolute ... -
Dimensional Synthesis of RPC Serial Robots
Pérez Gracia, Alba; McCarthy, John Michael (2003)
Text en actes de congrés
Accés restringit per política de l'editorialThis paper presents a synthesis methodology for the RPC serial robot. This robot has a four dimensional configuration space that can be generated by specifying a finite set of goal positions. The methodology uses the ... -
Dimensional Synthesis of Wristed Binary Hands
Hassanzadeh, Neda; Pérez Gracia, Alba (2016-04)
Article
Accés obertThe kinematic synthesis applied to tree topologies is a tool for the design of multi-fingered robotic hands, for a simultaneous task of all fingertips. Even though traditionally wrists and hands have been designed separately, ... -
Dual Quaternion Synthesis of a Parallel 2-TPR Robot
Pérez Gracia, Alba; McCarthy, John Michael (2002)
Text en actes de congrés
Accés restringit per política de l'editorialThis paper presents the dual quaternion synthesis methodology for constrained parallel robots. This methodology uses the dual quaternion form of the kinematics of supporting serial chains as design equations. Given a set ... -
Dual Quaternion Synthesis of Constrained Robots
Pérez Gracia, Alba; McCarthy, John Michael; Bennet, Bruce (Springer, 2002)
Text en actes de congrés
Accés restringit per política de l'editorialThis paper presents a synthesis methodology for robots that have less than six degrees of freedom, termed constrained robots. The goal is to determine the physical parameters of the chain that fit its workspace to a given ... -
Exact Workspace Synthesis for RCCR Linkages
Batbold, Batchimeg; Yihun, Yimesker; Wolper, James S.; Pérez Gracia, Alba (Springer, 2013)
Text en actes de congrés
Accés restringit per política de l'editorialA tool for the exact kinematic synthesis of a given workspace may be of interest when designing closed linkages. In these cases, finite-position synthesis cannot ensure smoothness of motion between task positions. In order ...