Ingeniería Mecánica (Mag.)

URI permanente para esta colecciónhttp://54.81.141.168/handle/123456789/9096

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2017 - 20192

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Asesorsearch.filters.applied.operator.equals: search.filters.advisor.Ströhla, Tom

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    Hybrid electromagnetic actuator design for an AMB prototype
    (Pontificia Universidad Católica del Perú, 2019-07-31) Betz, Björn Arnold Heinrich; Calderón Chavarri, Jesús Alan; Barriga Gamarra, Eliseo Benjamín; Ströhla, Tom
    In Peru, mining is one of the main drivers behind most developments in engineering, an area of high dynamic forces and high pollution. As an illustration, shovel excavators transport tons of sediment each day while cylinder screens sort the stones by size. Typically, ball or cylindrical bearings support these screens and companies, such as SKF, replace the bearings in regular intervals. Thus, the idea is to implement a system, which can dynamically adapt to loads and dynamical load changes to reduce maintenance intervals and vibrations. Ultimately, for a prototype this thesis presents two design proposals of a homopolar, hybrid active magnetic bearing. Moreover, the selection of an inductive type sensor should represent an adequate solution for determining the shaft position.
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    Control of a hydraulic hexapod robot used in a rehabilitation application
    (Pontificia Universidad Católica del Perú, 2017-03-09) Bodenstein, Fabian; Tafur Sotelo, Julio César; Ströhla, Tom
    In the last decades, the quantity of robot applications has increased enormously in various areas of operation. Their advantages like automation and accuracy are interesting for health care, as well. Besides of surgery and patient transportation, robots can be used for therapy, too. This master thesis presents an analytical model of a hydraulic hexapod robot, which is intended to be used as a gait trainer in a rehabilitation application. In order to prove the model, a measurement of all actuators is performed. They prove the linear plant characteristic caused by an installed pressure compensator. Consequently, a suitable decoupled state space control and an observer are developed and simulated. Considering the velocity and the control effort, the feedforward linear-quadratic state space controller shows the best system performance. The tests permit a model simplification and exhibit the negligible influence of small loads. The potential of the hexapod robot has to be considered regarding the further development of the periphery. Doing so, the presented controller can be implemented and the robot can be used in many areas.