Defesa de Doutorado – Juan Gabriel Guerrero Grijalva – 10/12/2021
02/12/2021 09:47
| Defesa de Tese de Doutorado | |
| Aluno | Juan Gabriel Guerrero Grijalva |
| Orientador
Coorientador |
Prof. Edson Roberto De Pieri, Dr. – DAS/UFSC
Prof. Daniel Martins, Dr. – EMC/UFSC |
| Data
|
10/12/2021 10h (sexta-feira)
Videoconferência (https://meet.google.com/gwi-taot-yve) |
|
Banca |
Prof. Edson Roberto De Pieri, Dr. – DAS/UFSC (presidente);
Prof. Marcelo Becker, Dr. – EESC/USP; Prof. Henrique Simas, Dr. – EMC/UFSC; Prof. Leonardo Mejia Rincon, Dr. – UFSC/Blumenau; Prof. Eugênio de Bona Castelan Neto, Dr. – PPGEAS/UFSC. |
| Título | Folding Mechatronic: a Scissor-Like Elements based Approach |
| Abstract: Folding Mechatronics is a technology that arises due to the need to develop devices that can be transported in a compact way, and when they are used, they can be deployed, reaching a larger size according to what is necessary. In the design of a mechatronic device, two steps must be considered: the first focused on the design of the tangible structure, hardware, where the main challenge is the design of the folding structure; and the second stage consists of the development of a control algorithm, software, which considers the needs and restrictions of the physical system. Scissor-like elements (SLE) are used for the design of the folding structure. An SLE consists of a pair of beams joined by a pivot, a rotation joint, to allow free rotation of one beam in relation to the other around the pivot axis. There is a wide variety of SLE that facilitates the formation of structures with different morphologies. In order to design lightweight folding structures, the use of origami coupled with SLEs is also explored. Dual quaternions are used in the kinematic analysis of SLEs. In the kinematic analysis, aspects related to direct kinematics and the workspace are considered. The state equation is represented by means of a mass-spring-damper system whose parameters are obtained through systems identification theory. In the controller project, two approaches are explored: one in continuous time and the other in discrete time. In a continuous-time, a robust approach based on inequalities of linear matrices is presented. On the other hand, a predictive controller is employed to handle the discrete time approach. The predictive controller handles restrictions on the input and the output of the dynamic system. | |
