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Assessment of Intended Deformations and Kinematic Error Identification in Mechanisms, Machine Tools and Manipulators

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dc.contributor.authorRuiz Salguero, Oscar Eduardo
dc.contributor.corporatenameUniversidad EAFIT (Medellín, Colombia)spa
dc.contributor.researchgroupCOL0013067 - Laboratorio de CAD/CAM/CAE
dc.coverage.projectdates2008-2011spa
dc.date.accessioned2020-12-11T21:09:47Z
dc.date.accessioned2020-12-18T00:16:15Z
dc.date.available2020-12-11T21:09:47Z
dc.date.available2020-12-18T00:16:15Z
dc.date.issued2011-11-03
dc.description.abstractThe purpose of this document is to support the request for Colciencias doctoral funding for the M.Sc. Sebastian Durango Idarraga, currently Ph.D. student at the CAD CAM CAE Laboratory at Eafit University, under the supervision of Prof. Dr. Eng. Oscar Ruiz. Sebastian Durango Idarraga started the Ph.D. program in August 2007 in the specific area of Deflection and Position Error Assessment in Mechanisms , Machine Tools and Robot Manipulators. Under the direction of Prof. Ruiz, Sebastian Durango has already conducted research for 12 months preparing this proposal. He has already passed the oral, jury-evaluated Qualifying Examinations (June 2008), in the mentioned areas. If this proposal is accepted by Colciencias, Sebastian Durango will have the opportunity to conduct part of his doctoral research in the Technical University of Denmark (DTU), according to the training that he has already undertaken per request of researchers at such places, who would be co-advisers of his doctoral dissertation. At Danmark Technical University -Copenhagen- Prof. Dr. Eng. John Restrepo would coach M.Sc. Sebastian Durango while in DTU. John Restrepo is Associate Professor, Section for Engineering Design and Product Development at DTU. Prof. Restrepo manages the projects of compliant mechanisms in medical and product design applications. SMALL VITA Sebastian Durango. Sebastian Durango (Manizales, Colombia, 1977) obtained a B.Sc. degree in Mechanical Engineering (2000) at Universidad Autonoma de Manizales, Manizales, Colombia, and a M.Sc. degree with emphasis in Automatic Systems of Production (2006) at Universidad Tecnologica de Pereira, Pereira, Colombia. During his M.Sc. Sebastian researched under the supervision of Prof. Dr. Gabriel Calle. (Doktor in Automotive Engineering of the State Polytechnic Academy of Belarus -Bielorussia). Since 2002 Sebastian is a full time faculty member with the Mechanics and Production Department at Universidad Autonoma de Manizales. In 2007 Sebastian joined the CAD CAM CAE Laboratory as Doctoral student with Prof. Oscar Ruiz as Advisor. Sebastians' interests are Mechanism and Machine Science and Robotics. SMALL VITA Oscar Ruiz. Associate Professor Oscar Ruiz was born in 1961 Tunja, Colombia. He obtained B.Sc. degrees in Mechanical Eng. (1983) and Computer Science (1987) at Los Andes University, Bogota, Colombia, a M.Sc. degree with emphasis in CAM (1991) and a Ph.D. with emphasis in CAD (1995) from the Mechanical and Industrial Eng. Dept. of University of Illinois at Urbana- Champaign, USA. Dr. Ruiz has held Visiting Researcher positions at Ford Motor Co. (Dearborn, USA. 1993 and 1995), Fraunhofer Inst. Graphische Datenverarbeitung (Darsmstad, Germany 1999 and 2001), University of Vigo (1999 and 2002) and Max Planck Institute for Informatik (2004). In 1996 Dr. Ruiz was appointed as Faculty of the Mechanical Eng. and Computer Science Depts. at Eafit University, Medellin, Colombia, and has ever since the coordinator of the Laboratory for Interdisciplinary Research on CAD / CAM / CAE. Dr. Ruiz' interests are Computer Aided Geometric Design, Geometric Reasoning and Applied Computational Geometry. Technical Summary. The goal of this project is to model positional errors in mechanisms, manipulators and machine tools. These errors may come from the geometry of the mechanism or from the forces affecting the mechanism while at work. On the other hand, in precision engineering, medical industry and nano-technology, mechanisms are designed to be deformed. These mechanisms are called compliant. While in traditional machine tools the deformations are undesirable, in compliant mechanisms the deformations are planned and intentional. This project seeks to continue the CAD CAM CAE Lab research in both traditional and compliant mechanism deformations and positional errors.spa
dc.format.extent170 páginas.spa
dc.identifier.instnameColcienciasspa
dc.identifier.reponameRepositorio Colcienciasspa
dc.identifier.repourlhttp://colciencias.metabiblioteca.com.cospa
dc.identifier.urihttps://colciencias.metadirectorio.org/handle/11146/39371
dc.language.isospaspa
dc.relation.ispartofseriesInforme;
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.rights.accessrightshttp://purl.org/coar/access_right/c_abf2spa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.rights.accessrightshttp://purl.org/coar/access_right/c_abf2spa
dc.rights.creativecommonsAtribución 4.0 Internacional (CC BY 4.0)spa
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/spa
dc.subject.proposalCompliant Mechanismsspa
dc.subject.proposalKinematic Parameter Modelingspa
dc.subject.proposalPosition Errorsspa
dc.subject.proposalRobot Calibrationspa
dc.titleAssessment of Intended Deformations and Kinematic Error Identification in Mechanisms, Machine Tools and Manipulatorsspa
dc.typeInforme de investigaciónspa
dc.type.coarhttp://purl.org/coar/resource_type/c_93fcspa
dc.type.contentTextspa
dc.type.driverinfo:eu-repo/semantics/reportspa
dc.type.redcolhttps://purl.org/redcol/resource_type/PIDspa
dc.type.versioninfo:eu-repo/semantics/submittedVersionspa
dc.type.versionhttp://purl.org/coar/version/c_71e4c1898caa6e32spa
dc.type.versioninfo:eu-repo/semantics/submittedVersionspa
dc.type.versionhttp://purl.org/coar/version/c_71e4c1898caa6e32spa
dcterms.audienceEstudiantes, Profesores, Comunidad científica colombiana, etc.spa
dspace.entity.typePublication
oaire.awardnumber121647922001spa
oaire.funderidentifier.colciencias524-2008
oaire.fundernameDepartamento Administrativo de Ciencia, Tecnología e Innovación [CO] Colcienciasspa
oaire.objetivesGeneral Objective This investigation seeks to attack the following problems in existing mechanisms, machine tools or manipulators: a. To assess the deformations caused by the functioning of the mechanism, b. To track back to each individual joint and link within a manipulator its kinematic parameters, and c. To model mechanisms whose deformation is an intentional factor in their intended functionality. The problem of assessing the deformations in mechanisms and manipulators will be attacked in two aspects: (i) in traditional mechanisms (i.e. which have kinematic joints) the problem is to minimize the positional errors induced by manufacturing defects and dynamic and static loads. (ii) in compliant mechanisms (i.e. which have no kinematic joints), where the deformations are desired, the problem is to establish a model (able to work in quasi-real time) of the deformations as functions of the control and working loads. It is very important to stress the fact that Finite Element Analysis predictions of loads vs. deflections are not suitable for real time control purposes.spa

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