Now showing items 1-20 of 61

  • A coordinate-free approach to tracing the coupler curves of pin-jointed linkages 

    Rojas Libreros, Nicolás Enrique; Thomas, Federico (ASME PRESS, 2011)
    Conference report
    Restricted access - publisher's policy
    In general, high-order coupler curves of plane mechanisms cannot be properly traced by standard predictor-corrector algorithms due to drifting problems and the presence of singularities. Instead of focusing on finding ...
  • Alineación frontal de la rodilla. Concepto y determinación de la posición neutra en el vivo 

    Casal Moro, R.; Montero Furelos, L.; Gónzalez García, J.; Pichel Moure, C.M. (Sociedad Ibérica de Biomecánica y Biomateriales, 1994)
    Article
    Open Access
    Se estudiaron 28 rodillas asintomáticas con objeto de confirmar en el vivo la existencia de movilidad mediolateral, tomando como posición neutra aquella en la que el contacto articular se produce simultáneamente en ...
  • Anàlisi de mètodes híbrids de vèrtexs/centrats 

    Artigas Oliveras, Martí (Universitat Politècnica de Catalunya, 2017)
    Bachelor thesis
    Open Access
    Covenantee:  Mitsubishi Electric Europe
    Aquest treball de final de grau presenta l’anàlisi d’un model híbrid de vèrtexs/centrats utilitzats per simular les reaccions en teixits tous i plans. L’objectiu del treball és analitzar els resultats, les tensions, ...
  • Análisis biomecánico de la carrera tras 40km de bici en competición 

    Calamejías, A.; Veiga Fernández, S.V.; Navarro Cabello, E. (SIIB, 2008-12-01)
    Article
    Open Access
    En triatlón, una de las partes más duras y estratégicas del deporte es la transición del ciclismo a la carrera a pie. El principal problema de los estudios analizados es que han sido llevados a cabo en laboratorios, donde ...
  • Análisis cinemático de robots manipuladores redundantes: Aplicación a los robots Kuka LWR 4+ y ABB Yumi 

    Zaplana Agut, Isiah; Claret, Josep A.; Basañez Villaluenga, Luis (Elsevier, 2018-03)
    Article
    Open Access
    En este trabajo se presenta un análisis cinemático aplicado a dos manipuladores serie redundantes: el Kuka LWR 4+ y el ABB Yumi. En particular, se deriva la cinemática directa para ambos manipuladores y se resuelve el ...
  • Análisis del pedaleo ciclista con sistemas convencionales VS no circulares en pruebas submáximas y supramáximas 

    García López, J.; Rodríguez-Marroyo, J.A.; Gerardo Villa, J. (2008-10-23T14:09:38Z)
    Article
    Open Access
    El objetivo de este trabajo ha sido analizar y comparar el rendimiento mecánico máximo (pruebas supramáximas) y la eficiencia energética (pruebas submáximas) desarrollada por ciclistas profesionales con un sistema de pedaleo ...
  • Analysing the singularities of 6-SPS parallel robots using virtual legs 

    Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (LIRMM, 2008)
    Conference report
    Open Access
    A virtual leg in a 6-SPS parallel robot is defined as a leg whose length is determined by the lengths of a subset of the actual legs of the robot. This necessarily implies that this subset of legs defines a rigid subassembly. ...
  • Architecture singularities in flagged parallel manipulators 

    Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (IEEE, 2008)
    Conference report
    Open Access
    Flagged manipulators are of interest because they are the only Stewart-Gough platforms for which a cell decomposition of their singularity loci is available. Here we show that the known family of such manipulators can be ...
  • A wrench-sensitive touch pad based on a parallel structure 

    Frigola Alcalde, Roger; Ros Giralt, Lluís; Roure Fernández, Francisco; Thomas, Federico (IEEE, 2008)
    Conference report
    Open Access
    Many different robotic in-parallel structures have been conceived as six-component force sensors. In general, they perform well for most applications but, when accuracy is a must, two main limitations arise. First, in most ...
  • Closure of the stellar hydrodynamic equations for arbitrary distributions 

    Cubarsí Morera, Rafael (2010-07)
    External research report
    Open Access
    The closure problem of the stellar hydrodynamic equations is studied in a general case by describing the family of phase space density functions for which the collisionless Boltzmann equation is strictly equivalent to a ...
  • Comparison of kinematics of GHBMC to PMHS on the side impact condition 

    Park, Gwansik; Kim, Taewung; Crandall, Jeff R.; Arregui Dalmases, Carlos; Luzón Narro, Benito Javier (2013)
    Conference lecture
    Open Access
    The goal of this study was to evaluate the biofidelity of the Global Human Body Models Consortium (GHBMC) human body model under a side impact loading condition with an airbag, and analyze the effect of initial position ...
  • Conditions of consistency for multicomponent axisymmetric stellar systems. Is an axisymmetric model suitable yet? 

    Cubarsí Morera, Rafael (2013-12-17)
    Article
    Open Access
    Solving the Boltzmann collisionless equatio n under the axisymmetric hypot hesis introduces serious lim itations on describing the kinematics of a single stellar system according to the local Galactic observables. Instead ...
  • Conditions of consistency for multicomponent stellar systems. II. Is a point-axial symmetric model suitable for the Galaxy? 

    Cubarsí Morera, Rafael (2014-05-27)
    Article
    Open Access
    Under a common potential, a finite mixture of ellipsoidal velocity distributions satisfying the Boltzmann collisionless equation provides a set of integrability conditions that may constrain the population kinematics. ...
  • DAE Methods in Constrained Robotic System Simulation: 

    Costa Castelló, Ramon; Griñó Cubero, Robert; Basañez Villaluenga, Luis (Centro de Investigación en Computación, 1998-03)
    Article
    Open Access
    In this paper a DAE formulation is used to model the behaviour of constrained robotic systems. This formulation allows to specify in an easy and clear way the constrained behaviour of a robotic system. In order to better ...
  • Design of the workplace for a Delta Robot 

    Romeo Alba, Xavier (Universitat Politècnica de Catalunya / Zilinská Univerzita v Zilined, 2010)
    Master thesis (pre-Bologna period)
    Restricted access - author's decision
    This project presents an introduction to parallel kinematic robots focused on Delta robot from the point of view of applications, kinematics, mechanics and investigation. The second part of the document shows the ...
  • Direct position analysis of a large family of spherical and planar parallel manipulators with four loops 

    Borràs Sol, Júlia; Gregorio, Raffaele di (LIRMM, 2008)
    Conference report
    Open Access
    The direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint ...
  • Disseny i validació d'un carregador de mòbil autònom 

    Díez Quílez, Cristian (Universitat Politècnica de Catalunya, 2014-06)
    Bachelor thesis
    Open Access
    En el món actual la tecnologia s’ha convertit en una necessitat bàsica en el nostre dia a dia. L’abastiment energètic dels nostres aparells juga un paper clau en la nostre interacció amb ells, especialment quan els equips ...
  • Distance-based position analysis of the three seven-link Assur kinematic chains 

    Rojas Libreros, Nicolás Enrique; Thomas, Federico (2011-02)
    Article
    Open Access
    The position analysis of planar linkages has been dominated by resultant elimination and tangent-half-angle substitution techniques applied to sets of kinematic loop equations. This analysis is thus reduced to finding ...
  • Eccentricity samples: implications on the potential and the velocity distribution 

    Cubarsí Morera, Rafael; Stojanovic, Milan; Ninkovic, Slobodan (2017)
    Article
    Open Access
    Planar and vertical epicycle frequencies and local angular velocity are related to the derivatives up to the second order of the local potential and can be used to test the shape of the potential from stellar disc samples. ...
  • Efecto de las resistencias aerodinámicas sobre el alcance de lanzamientos de martillo masculinos y femeninos de atletas de élite 

    Rojas Ruiz, F. J.; Gutiérrez Dávila, M. (2008-10-21T15:42:06Z)
    Article
    Open Access
    El alcance del lanzamiento de martillo está determinado por las condiciones cinemáticas en el momento de salida de las manos del lanzador, en concreto por la velocidad, el ángulo y la altura de salida. A partir de ahí, la ...