Ciencias Exactas y Ciencias de la Salud
Permanent URI for this collectionhttps://hdl.handle.net/11285/551039
Pertenecen a esta colección Tesis y Trabajos de grado de las Maestrías correspondientes a las Escuelas de Ingeniería y Ciencias así como a Medicina y Ciencias de la Salud.
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- Architected gripper fingers: design, additive manufacturing, and experimental characterization(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2025-12-09) Molina Berrios, Andrés Eduardo; Román Flores, Armando; emimmayorquin, emipsanchez; Vázquez Hurtado, Carlos; School of Engineering and Sciences; Campus Monterrey; Cuan Urquizo, EnriqueSoft robotic manipulators provide an approach to manipulate delicate and fragile objects. Their performance depends mostly on its material flexibility and finger design. This study explores architected gripper fingers designs featuring sinusoidal structures manufactured via fused filament fabrication using thermoplastic polyurethane. The deformation behavior was experimentally characterized through image analysis of geometry conformity to assess adaptability and load-deformation test using a stepper motor and analog dynamometer. Performance was analyzed implementing robotic manipulation trials using an Xarm. The results showed that distance between curved ribs demonstrated higher flexibility, with greater deformations per load step. Withing the designs, models with increased number of waves achieved better adaptability, while those with ribs spacing variations exhibited higher stiffness. Robotic manipulation experiments confirmed that architected fingers improved grasping performance and reduced damage when handling delicate objects. This study provides a foundation for developing robotic applications, demonstrating that the proposed configurations are capable of safe manipulation. The combination of design parameters and additive manufacturing techniques enables the creation of customized and functional fingers that can adapt to various delicate objects.
- Impact of Industry 4.0 on Small and Medium Enterprises: Evaluation of Maturity Indices and Implementation Methodologies(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024-12-11) Delgado González, Jessica; Román Flores, Armando; emimmayorquin; Cuan Urquizo, Enrique; School of Engineering and Sciences; Campus Monterrey; Vázquez Hurtado, CarlosThe digital transformation driven by Industry 4.0 technologies is reshaping global economic and business paradigms. Small and medium-sized enterprises (SMEs) in Mexico, which represent 99.8% of the country's economic units and contribute over 52% to its GDP, face significant barriers such as limited financial resources, technological gaps, and cultural resistance. These constraints, highlighted in recent studies, underscore the need for tailored tools to support their digitalization efforts. This thesis develops a digital maturity model specifically adapted to Mexican SMEs, integrating practical tools such as an assessment framework and a step-by-step action plan. The study begins by analyzing the theoretical foundations of Industry 4.0 and existing digital maturity models while addressing challenges unique to SMEs. Building on this foundation, the proposed model evaluates SMEs' current digital maturity and provides actionable recommendations through a simulation applied to a representative SME. The results demonstrate the model’s utility in identifying areas for improvement, fostering innovation, and enhancing competitiveness and sustainability in a globalized market. This work contributes academically by adapting global models to local contexts and practically by offering a replicable framework to bridge the digital divide in this critical economic sector.
- Digital twins for compliant and elastic components(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024-06-14) Fuentes Juvera, Luis David; Román Flores, Armando; emipsanchez; González de Alba, Alejandro; Sandoval Castro, Xochitl Yamile; Escuela de Ingeniería y Ciencias; Campus Monterrey; Cuan Urquizo, EnriqueNovel research fields are gradually finding their place within the Industry 4.0 ecosystem. This is noticeable with compliant mechanisms, soft robots, and other instances of compliant and elastic components. The complex interaction they exhibit between kinematics and elastic deformation presents a significant obstacle for their cyber-physical integration: the development of physically accurate models with real-time capabilities. This has resulted in their slower integration into the 4.0 ecosystem compared to other more mature technologies. This work addresses the design of a cyber-physical integration framework for compliant components from a modeling perspective. This framework can be utilized in the design of digital twins and other mixed-domain applications. To accomplish this, reduced order modeling is employed for the creation of efficient virtual representations, and computer vision is used for integration with the physical domain via sparse structural features tracking. The proposed cyber-physical integration framework is applied in the implementation of the digital shadow of a compliant joint and in an exploratory study of fusing experiments and simulations of mechanical metamaterials. This work contributes to the development of a data-driven methodology for recovering the parameter-dependence of a reduced basis approximation, initially having a single parameter and later extended to multiple parameters. This is validated numerically as well as proven theoretically. Additionally, a methodology is defined for acquiring sparse structural information of mechanical metamaterials using a vision-based approach for the visual tracking of structural features. Furthermore, this work studies the imposition of essential boundary conditions on nonlinear reduced basis models. Although this part is still at an exploratory stage, it might be a promising alternative for modeling compliant and elastic components subjected to large deflections, a topic still under development in the literature in which a generalizable solution has not yet been proposed. Control and monitoring applications for compliant mechanisms could be the first to benefit from this modeling strategy. However, the nonlinear reduced basis models yielded execution times far from real-time, which would require leveraging other technologies like hardware acceleration. Future work is encouraged to explore the utilization of static condensation and multipoint constraints for creating a modular framework for modeling larger-scale systems of compliant components. Also, to conduct further experimental validation and to develop novel cyber-physically integrated applications based on the proposed framework.
- Statistical dimensional analysis on quality control improvement on FDM 3D printing(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2022-12-05) Lizardi Montoya, Diana Belinda; Román Flores, Armando; puemcuervo,emimayorquin; Tejada Ortigoza, Viridiana Alejandra; Cuan Urquizo, Enrique; School of Engineering and Sciences; Campus Monterrey; Urbina Coronado, Pedro DanielFused Deposition Modeling (FDM) is one of the most employed Additive Manufacturing techniques used for manufacturing diverse applications in the industry, from prototyping and experimentation to biomedical devices. The printing process of this 3D printing technology is commonly affected by structural defects, such as dimensional and geometrical accuracy and warping of edges. These defects impact the manufacture of printed samples as a waste of material, profits, and time. With the adequate combination of printing parameters, defects can be reduced or eliminated, specifically the dimensional accuracy of printed parts. In this research, a manufacturing quality control technique is proposed, making a statistical analysis through a more specifical and accurate method such as Six Sigma, which is used in the industry for quality control on production. For the statistical analysis, the capability of the process is employed, obtaining values in terms of Sigma Levels. In addition, a Design of Experiments was used to find the adequate parameter arrangement to develop the samples with the best quality in terms of four dimensions: Outer Length, Diameter, Inner Length, and Thickness. As the studied defect, the error percentage is calculated by measuring and comparing the actual dimensions to the dimensions from the 3D drawing. The samples were measured using a Coordinate Measuring Machine (CMM) to obtain accurate results. Finally, the comparison between the parameters of normal quality at the programming phase and the parameters chosen from the design of experiments was made, demonstrating the recommended parameter arrangement for each kind of dimension using the Sigma Level as a reference for improvement.
- Design of a soft gripper with compliant mechanisms(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2021-12-06) Puente Flores, Alfredo; Román Flores, Armando; puemcuervo; Cuan Urquizo, Enrique; Vázquez Hurtado, Carlos; School of Engineering and Sciences; Campus Monterrey; Urbina Coronado, Pedro DanielRobotic manipulators can perform repetitive tasks at rates and accuracies that cannot be rivalled by those of human operators. Nowadays, they are rather ubiqitiuos and widely used in different fields. However, that is not all. Robotic manipulators have slowly started to incursion in fields other than manufacturing like that of medicine and agriculture. Because of the wide variety of fields that currently employ robotic manipulators, tasks can be more complex than the usual ones. For this reason, traditional mechanical grippers are not always adequate and there is currently a high demand for grippers that can effectively adapt to grasp a wider variety of objects – especially those that aree fragile or deformable – without damaging them. Current grippers are mostly made of mechanical linkages what makes them stiff and non-adaptive, which is a disadvantage when attempting to grasp delicate objects. Soft grippers can be an adequate solution for this problem and have gained attention in recent years. Although some models have been presented in the literature, they have several drawbacks. This work presents the design of a novel soft gripper that can adapt to the shape of the object. Experiments were conducted to validate the proposal.