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...

Parallel robots have proven to be the best alternative for dynamic high performance applications in which we need to manipulate powerful changes, apply controlled forces efficiently or move objects at high speed. For this, we require a correct mechanical design as well as an adequate controller that can be executed on real-time. Thus, the aim of the project is to develop specific control techniques for parallel robots in high dynamic performance applications.

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.