Defesa de Exame de Qualificação – Juan Gabriel Guerrero Grijalva – 7/12/2018
| Defesa de Exame de Qualificação | |
| Aluno | Juan Gabriel Guerrero Grijalva |
| Orientador | Prof. Edson Roberto De Pieri, Dr. – DAS/UFSC |
| Data
Local |
7/12/2018 14h00 (sexta-feira)
Sala PPGEAS I (piso superior) |
| Prof. Eugênio de Bona Castelan Neto, Dr. – DAS/UFSC (presidente)
Prof. Daniel Martins, Dr. – EMC/UFSC Prof. Anibal Alexandre Campos Bonilla, Dr. – CCT/UDESC |
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| Título
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Folding Mechatronics |
| Abstract: The exponential increase of people around the world, the concentration of population in urban areas; moreover the global need to develop efficient products lead to the apparition of new technologies. Under this perspective Folding Mechatronics proposes a novel procedure to develop mechatronic devices such as buildings, shelters, cars, furniture and robots being folding capacity its main feature.
Reconfigurable mechanism offers the possibility to change mechanical properties in rigid structures such as morphology, stiffness, vibration avoidance, etc. Scissor-like elements (SLE) assembles are popular reconfigurable mechanisms, its kinematics usually are represented by conventional matrices approach. Due to the huge number of joints and links that SLE assembles are built with, the matrices which represent its kinematics have plenty of rows and columns. The dynamic modeling of SLE assembles is not easy neither efficient due to the friction and stiffness embedded in its various joints and links. Mechatronic devices have a control system designed according to the needs of the application, in this case it is necessary to look for a control algorithm with low computational cost. Thus we present a novel approach to deal with analysis and synthesis of SLE assembles based in Dual-quaternions and Screw theory. The dynamics of the system is obtained by identification, then linear time-invariant (LTI) and linear parameter-varying (LPV) models are available. Robust control based in polytope approach and Takagi-Sugeno (TS) fuzzy employing linear matrix inequalities (LMI) conditions are the control techniques chosen to develop a control algorithm which is going to be embedded in a microcontroller or a microprocessor. Hardware in the loop (HIL) is the way proposed to test the mechatronic system. Finally aiming to find an easy way to interact, internet of things (IoT) is pretended to be applied, between the various devices. |
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