Grup de recerca especialitzat en disseny i anàlisi dinàmica de màquines. Es tracten aspectes relacionats amb l'anàlisi i la simulació dinàmica de sistemes mecànics, i amb els problemes que provoquen les vibracions mecàniques. A més, en l'apartat de disseny mecànic, el grup té una forta activitat de transferència de tecnologia principalment en l'entorn industrial dels bens d'equip.

Recent Submissions

  • Quaternions and Clifford Algebras 

    Pérez Gracia, Alba (Springer, 2021)
    Part of book or chapter of book
    Restricted access - publisher's policy
    Quaternions are a type of hypercomplex numbers. Unit quaternions, which describe rotations, were called versors by Hamilton. The concept of versor can be generalized as the product of invertible vectors in the Clifford ...
  • Novel ball head screw and screwdriver design for implant-supported prostheses with angled channels: A finite element analysis 

    Farré Berga, Oriol; Cercadillo Ibarguren, Iñaki; Sánchez Torres, Alba; Domènech Mestres, Carles (2018-12-01)
    Article
    Open Access
    The primary objective of this study was to design the optimal geometry of a novel screwdriver, create the grooves on a ball head screw, and demonstrate its resistance to a torque of up to 40 Ncm at angulations of 0°, 15°, ...
  • Analysis of the vibration amplitude in a 3d printer carriage. Ceramic 3D printer model BCN3D+ (2016) 

    Veciana Fontanet, Joaquim Maria; Tejedo Sobrino, José Luis (2022-03-18)
    Research report
    Restricted access - confidentiality agreement
    This analysis has been performed in a 3d printer type BCN3D+ (2016) serial number 01.161111.1375, modified to adapt ceramic print heads (Figure 1). The objective is to determine the error in the position of the print head ...
  • Dimensional Synthesis of Bennett Linkages 

    Pérez Gracia, Alba; McCarthy, John Michael (2000)
    Conference report
    Restricted access - publisher's policy
    This 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 ...
  • Dual Quaternion Synthesis of Constrained Robots 

    Pérez Gracia, Alba; McCarthy, John Michael; Bennet, Bruce (Springer, 2002)
    Conference report
    Restricted access - publisher's policy
    This 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 ...
  • Dual Quaternion Synthesis of a Parallel 2-TPR Robot 

    Pérez Gracia, Alba; McCarthy, John Michael (2002)
    Conference report
    Restricted access - publisher's policy
    This 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 ...
  • Dimensional Synthesis of RPC Serial Robots 

    Pérez Gracia, Alba; McCarthy, John Michael (2003)
    Conference report
    Restricted access - publisher's policy
    This 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 ...
  • Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials 

    Pérez Gracia, Alba; McCarthy, John Michael (2005)
    Conference report
    Restricted access - publisher's policy
    In this paper we formulate the “generalized inverse kinematics problem” for a spatial serial chain, where the goal is to determine values for structural parameters as well as for the joint parameters. The kinematics equations ...
  • Dimensional Synthesis of CRR Serial Chains 

    Pérez Gracia, Alba; McCarthy, John Michael (American Society of Mechanical Engineers (ASME), 2003)
    Conference report
    Restricted access - publisher's policy
    This 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 ...
  • Geometric Design Of Symmetric 3-RRS Constrained Parallel Platforms 

    Wolbrecht, Eric; Su, Hai Jun; Pérez Gracia, Alba; McCarthy, John Michael (American Society of Mechanical Engineers (ASME), 2004)
    Conference report
    Restricted access - publisher's policy
    The paper presents the kinematic synthesis of a symmetric parallel platform supported by three RRS serial chains. The dimensional synthesis of this three degree-of-freedom system is obtained using design equations for each ...
  • Solvable Multi-Fingered Hands for Exact Kinematic Synthesis 

    Makhal, Abhijit; Pérez Gracia, Alba (Springer, 2014)
    Conference report
    Restricted access - publisher's policy
    Multi-fingered hands are kinematic chains with a tree topology, that is, with a set of common joints that span several branches and end-effectors. When performing dimensional kinematic synthesis with simultaneous tasks for ...
  • Link-based Performance Optimization of Spatial Mechanisms 

    Yihun, Yimesker; Bosworth, Kenneth; Pérez Gracia, Alba (2014-12)
    Article
    Restricted access - publisher's policy
    In the design of spatial linkages, the finite-position kinematics is fully specified by the position of the joint axes, i.e., a set of lines in space. However, most of the tasks have additional requirements regarding motion ...

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