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Oscar Altuzarra
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Journal Articles

Design and Modeling of a Parallel Continuum Manipulator for Trunk Motion Rehabilitation

Daniel Díaz-Caneja, Francisco J. Campa, Oscar Altuzarra
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research-Article
J. Med. Devices. March 2021, 15(1): 011109.
Paper No: MED-20-1167
https://doi.org/10.1115/1.4049551
Published Online: January 28, 2021
View Article titled, Design and Modeling of a Parallel Continuum Manipulator for Trunk Motion Rehabilitation
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Topics: Design, Kinematics, Manipulators, Modeling, Motors, Rotation, Torque, Engineering prototypes, Force sensors, Sensors
Proceedings Papers

Dynamic Simulation of a Tripod Based in Boltzmann-Hamel Equations

Oscar Altuzarra, Francisco Campa Gomez, Constantino Roldan-Paraponiaris, Charles Pinto
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A022, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47427
https://doi.org/10.1115/DETC2015-47427
View Paper titled, Dynamic Simulation of a Tripod Based in Boltzmann-Hamel Equations
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Topics: Simulation, Actuators, Manipulators, Dynamic response, Dynamics (Mechanics), Equations of motion, Kinematic chains, Mechanical admittance, Stability, Transfer functions
Proceedings Papers

Experimental Validation of the Kinematics of a 3PRS Compliant Mechanism for Micromilling

Antonio Ruiz, Francisco Campa Gomez, Constantino Roldan-Paraponiaris, Oscar Altuzarra
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A022, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47449
https://doi.org/10.1115/DETC2015-47449
View Paper titled, Experimental Validation of the Kinematics of a 3PRS Compliant Mechanism for Micromilling
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Topics: Compliant mechanisms, Kinematics, Micromilling, Manipulators, Finite element methods, Finite element model, Milling, Parallel mechanisms, Control equipment, Cutting
Proceedings Papers

Analysis and Design of the 2PRU-1PRS Manipulator for Vibration Testing

Saioa Herrero, Charles Pinto, Oscar Altuzarra, Constantino Roldan-Paraponiaris
Proc. ASME. IMECE2014, Volume 4A: Dynamics, Vibration, and Control, V04AT04A020, November 14–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2014-36864
https://doi.org/10.1115/IMECE2014-36864
View Paper titled, Analysis and Design of the 2PRU-1PRS Manipulator for Vibration Testing
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Topics: Design, Manipulators, Testing, Vibration, Graphical user interfaces, Vibration tests, Degrees of freedom, Engineering simulation, Inertia (Mechanics), Kinematics
Proceedings Papers

Actuators Orientation Influence in the Energy Consumption of the 3-PRS Manipulator

Saioa Herrero, Charles Pinto, Javier Corral, Oscar Altuzarra
Proc. ASME. IMECE2013, Volume 4B: Dynamics, Vibration and Control, V04BT04A071, November 15–21, 2013
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2013-63166
https://doi.org/10.1115/IMECE2013-63166
View Paper titled, Actuators Orientation Influence in the Energy Consumption of the 3-PRS Manipulator
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Topics: Actuators, Energy consumption, Manipulators, Dynamics (Mechanics), Kinematics, Trajectories (Physics), Concretes, Mechanical admittance, Rotation
Journal Articles

Assessing Position Error Due to Clearances and Deformations of Links in Parallel Manipulators

Jokin Aginaga, Oscar Altuzarra, Erik Macho, Xabier Iriarte
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. April 2013, 135(4): 041006.
Paper No: MD-12-1187
https://doi.org/10.1115/1.4023633
Published Online: March 26, 2013
View Article titled, Assessing Position Error Due to Clearances and Deformations of Links in Parallel Manipulators
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Topics: Clearances (Engineering), Deformation, Errors, Manipulators, Stress, Trajectories (Physics), End effectors
Journal Articles

Planning Nonsingular Transitions Between Solutions of the Direct Kinematic Problem From the Joint Space

Erik Macho, Victor Petuya, Oscar Altuzarra, Alfonso Hernandez
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2012, 4(4): 041005.
https://doi.org/10.1115/1.4007306
Published Online: September 17, 2012
View Article titled, Planning Nonsingular Transitions Between Solutions of the Direct Kinematic Problem From the Joint Space
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Topics: Kinematics, Manipulators
Proceedings Papers

Accuracy Analysis Considering Clearances and Elastic Deformations in Parallel Manipulators

Jokin Aginaga, Oscar Altuzarra, Erik Macho, Jon Olza
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 387-394, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-47892
https://doi.org/10.1115/DETC2011-47892
View Paper titled, Accuracy Analysis Considering Clearances and Elastic Deformations in Parallel Manipulators
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Topics: Deformation, Manipulators, Clearances (Engineering), Dimensions, End effectors, Errors, Screws, Stiffness, Trajectories (Physics)
Journal Articles

Optimal Dimensioning for Parallel Manipulators: Workspace, Dexterity, and Energy

Oscar Altuzarra, C. Pinto, B. Sandru, A. Hernandez
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2011, 133(4): 041007.
https://doi.org/10.1115/1.4003879
Published Online: May 18, 2011
View Article titled, Optimal Dimensioning for Parallel Manipulators: Workspace, Dexterity, and Energy
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Topics: Manipulators, Design, Trajectories (Physics), Pareto optimization, Cycles, Kinematics, Dimensions
Proceedings Papers

Pareto-Optimal Solutions Using Kinematic and Dynamic Functions for a Scho¨nflies Parallel Manipulator

Oscar Altuzarra, Charles Pinto, Bogdan Sandru, Enrique Amezua
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 513-522, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86723
https://doi.org/10.1115/DETC2009-86723
View Paper titled, Pareto-Optimal Solutions Using Kinematic and Dynamic Functions for a Scho¨nflies Parallel Manipulator
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Topics: Kinematics, Manipulators, Design, Actuators, Mechanical admittance, Pareto optimization, Testing, Trajectories (Physics)
Proceedings Papers

Considering the Ability for Nonsingular Transitions of Assembly Mode for Dimensional Synthesis

Oscar Altuzarra, Vi´ctor Petuya, Mo´nica Uri´zar, Alfonso Herna´ndez
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 493-502, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86654
https://doi.org/10.1115/DETC2009-86654
View Paper titled, Considering the Ability for Nonsingular Transitions of Assembly Mode for Dimensional Synthesis
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Topics: Manufacturing, Manipulators, Design, Algebra, Dimensions, Path planning
Journal Articles

Computing the Configuration Space for Tracing Paths Between Assembly Modes

Mónica Urízar, Víctor Petuya, Oscar Altuzarra, Erik Macho, Alfonso Hernández
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031002.
https://doi.org/10.1115/1.4001734
Published Online: June 21, 2010
View Article titled, Computing the Configuration Space for Tracing Paths Between Assembly Modes
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Topics: Manipulators, Manufacturing, Path planning, Joining
Proceedings Papers

Modal Characterization of the Instantaneous Mobility of Manipulators

Oscar Salgado, Oscar Altuzarra, Enrique Amezua, Alfonso Herna´ndez
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1289-1298, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35328
https://doi.org/10.1115/DETC2007-35328
View Paper titled, Modal Characterization of the Instantaneous Mobility of Manipulators
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Topics: Manipulators, Mechanical admittance, Screws, Computer software
Proceedings Papers

A Parallelogram-Based Parallel Manipulator For Scho¨nflies Motion

Oscar Salgado, Oscar Altuzarra, Enrique Amezua, Alfonso Herna´ndez
Proc. ASME. IDETC-CIE2006, Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B, 833-842, September 10–13, 2006
Publisher: American Society of Mechanical Engineers
Paper No: DETC2006-99197
https://doi.org/10.1115/DETC2006-99197
View Paper titled, A Parallelogram-Based Parallel Manipulator For Scho¨nflies Motion
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Topics: Manipulators, Degrees of freedom, End effectors, Engineering prototypes, Kinematic analysis, Kinematic chains, Resolution (Optics), Stiffness
Journal Articles

Synthesis and Design of a Novel 3T1R Fully-Parallel Manipulator

Oscar Salgado, Oscar Altuzarra, Víctor Petuya, Alfonso Hernández
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2008, 130(4): 042305.
https://doi.org/10.1115/1.2839005
Published Online: March 3, 2008
View Article titled, Synthesis and Design of a Novel 3T1R Fully-Parallel Manipulator
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Topics: Kinematics, Manipulators, End effectors
Journal Articles

A Parallelogram-Based Parallel Manipulator for Schönflies Motion

Oscar Salgado, Oscar Altuzarra, Enrique Amezua, Alfonso Hernández
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 2007, 129(12): 1243–1250.
https://doi.org/10.1115/1.2779898
Published Online: December 28, 2006
View Article titled, A Parallelogram-Based Parallel Manipulator for Schönflies Motion
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Topics: Kinematics, Manipulators, End effectors, Kinematic chains, Design, Engineering prototypes