DESCRIPCIÓN BIBLIOGRÁFICA DEL TRABAJO FIN DE ESTUDIOS IKASKETEN AMAIERAKO LANARI BURUZKO BIBLIOGRAFIAREN DESKRIBAPENA PC 934 ANX1 Campos OBLIGATORIOS / NAHITAEZ bete beharreko eremuak AÑO / URTEA (20xx): 2015 Trabajo Fin de Grado (TFG) / Gradu Amaierako Lana (GAL) X Trabajo Fin de Máster (TFM) / Master Amaierako Lana ( MAL) ☐ Título del TFG/TFM / GAL/MALaren izenburua: Diseño y estudio de la movilidad de un nuevo modelo de unión esférica para mecanismos paralelos Autor (Apellidos, Nombre) / Egilea (Deiturak, izena): Arina Sáenz-López, Ismael Director / Zuzendaria: Jokin Aginaga García UPNA / NUP X Otro (Indicar) / Beste bat (Jarri) Codirector, si existe / Zuzendarikidea, halakorik badago UPNA / NUP ☐ Otro (Indicar) / Beste bat (Jarri) Abstract (Resumen de 100-250 palabras)/ Abstract (Laburpena 100-250 hitzetan) In this Project, it is presented the design in Solidworks of a new model of spherical joint and the calculation in Matlab of its range of motion. Furthermore, it is calculated with ANSYS the stress of a part of the joint under static and dynamic loads. The design of this new spherical joint is based on a previous design created by the "IMAC Research Group" at the Public University of Navarra, in which some modifications are introduced that improve the performance of this spherical joint. Inglés Ingelesa The spherical joint is designed in order to be used in spatial parallel mechanisms with the advantage of allowing a greater and adaptable workspace. The new model designed has different configurations and a comparison with the range of motion of the universal joint has been perfomed. This new model of spherical joint can be used in the construction of different parallel mechanisms, in which it is important to have a wide range of mobility so as to improve the workspace of parallel mechanisms containing it. Materias o Palabras Clave (máximo 5) / Gaiak edo hitz gakoak (gehienez 5) Spherical joint Workspace Range of motion Parallel mechanisms Universal joint PC 934 ANX1 Rev 00 – 18/03/2015 pág /or.1 DESCRIPCIÓN BIBLIOGRÁFICA DEL TRABAJO FIN DE ESTUDIOS IKASKETEN AMAIERAKO LANARI BURUZKO BIBLIOGRAFIAREN DESKRIBAPENA PC 934 ANX1 Campos OPTATIVOS / AUKERAKO eremuak Castellano Gaztelania Abstract (Resumen de 100-250 palabras) / Abstract (Laburpena 100-250 hitzetan) Materias o Palabras Clave (máximo 5) / Gaiak edo hitz gakoak (gehienez 5) Euskera Euskara Abstract (Resumen de 100-250 palabras) / / Abstract (Laburpena 100-250 hitzetan) Materias o Palabras Clave (máximo 5) / Gaiak edo hitz gakoak (gehienez 5) Otro Idioma Beste hizk. bat Abstract (Resumen de 100-250 palabras) / / Abstract (Laburpena 100-250 hitzetan) Materias o Palabras Clave (máximo 5) / Gaiak edo hitz gakoak (gehienez 5) PC 934 ANX1 Rev 00 – 18/03/2015 pág /or.2