特別セミナーのご案内（東京工業大学工学院，日本 IFToMM 会議共催）
日時：2019 年 1 月 21 日（月） 17 時～18 時 30 分
会場：東京工業大学・大岡山キャンパス 本館 4 階第一会議室
https://www.titech.ac.jp/maps/
講師：Prof. Alfonso Hernández Frías and Assoc. Prof. Víctor Petuya,
Department of Mechanical Engineering of the University of the Basque Country
at the Faculty of Engineering of Bilbao, Spain
題目:

From planar to spatial mechanisms. Some design criteria of parallel robots

Abstract:
The kinematic radiography of a machine is a mechanism, and a mechanism is nothing
more than a set of geometric constraints. From this approach, it is easier to present theconcept of mobility applied to a mechanism, to a kinematic pair, or to an element of amechanism. In fact, there is a very special element in a mechanism that is the coupler,end-effector or mobile platform, which is the one that define the application of themechanism. But, to know the number of degrees of freedom of the end-effector is notenough. More complete information about its motion capability is given by the so-called
motion pattern. The motion pattern is, in general, an instantaneous characteristic. It
depends on the mobile platform pose. However, the morphological or structural synthesis
allows designing parallel manipulators with permanent motion pattern along theworkspace, which is a great technical benefit.
A singularity analysis detects those configurations where the robot can suffer a loss of
local mobility, the blocking of an element, or losing control. Except for very particularapplications, singularities are non-desired configurations. Therefore, the job of theengineer is oriented to size the robot so that it operates in a wide, regular and free ofsingularities workspace.
Using the GIM software (www.ehu.eus/compmech/software), some planar and spatial
mechanisms will be modelled to illustrate the theoretical concepts revised during thelecture.
Biographical data:
Alfonso Hernández Frías has been Professor of Mechanical Engineering since 1995 in
the Department of Mechanical Engineering of the University of the Basque Country at
the Faculty of Engineering of Bilbao. He has published several books and monographson the Kinematics and Dynamics of Machines. He is co-author of a free software (GIM)
for kinematic and dynamic analysis of mechanisms, with downloads in more than 560institutions from a total of about 90 different countries. He has about 200 scientificpublications, mainly in journals in the field of Robotics and Mechanisms. Along hiscareer he has participated in numerous research projects and contracts with companies.
Currently he chairs the Spanish group of the IFToMM and the technical committee ofRobotics and Mechanisms of the Ibero-American Federation of Mechanical Engineering.
Víctor Petuya is since 2007 Associate Professor in the Department of MechanicalEngineering at the Faculty of Engineering of Bilbao, Universidad del País Vasco

(UPV/EHU). He has been involved as a researcher in 30 institutional projects at regional,national and European level. Also, he has been involved in 25 research projects directlyin cooperation with companies. He has published 38 papers in international journals and17 papers in Spanish journals. Also, he has been co-editor of 3 Springer books related toRobotics and Micromachines. He is co-author of 3 international patents. He has presented
76 communications in international and national congresses. In 2015, he was been
awarded with the IFToMM – LMC TC Service Award. Currently he is Chairman of theIFToMM Technical Committee of Linkages and Mechanical Controls.
Photo:

Prof. A. Hernández

Assoc. Prof. V Petuya

本館入口

大岡山駅

問い合わせ先：武田行生，工学院（機械系担当）, takeda@mech.titech.ac.jp