The main objective of this project is to analyse the capacity of current parallel kinematic structures as a test bench for automotives, allowing for a reduction in the cost of developing these elements and the necessary testing hours on track. For this, we will approach from several areas. First, we will look at the synthesis and design of parallel robots, in order to determine the most adequate structure to meet the needs of the application, as well as the sizing. Second, kinematic and dynamic modelling will allow...

The aim of this work is to analyse drilling process behaviour to evaluate the possibilities of designing a control system that allows us to increase productivity and to efficiently manage tools with a power supervision loop. In order to carry out this analysis we first propose a testing methodology to extract maximum knowledge about the process. This trial methodology involves trials in both a stable regime and degraded regimes caused by the wear or breakage of the tool. Second, it is necessary to define and...

The aim of this project is to develop control strategies specifically for closed chain robots, where, given their complex kinematics and dynamics and the high fitting between the different kinematic chains, the control systems used until now have been decoupled and taken from serial robots. For this, we sensors are incorporated into the passive articulations or not actuated (partially or wholly) so this additional information will be used in the control strategies.