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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- Metamaterial-enhanced soft pneumatic actuators: tailoring stiffness and deformation modes(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2025-06-09) Ochoa Sánchez, Oscar; González de Alba, Alejandro; emipsanchez; Cuan Urquizo, Enrique; Pérez Santiago, Rogelio; School of Engineering and Sciences; Campus Monterrey; Sandoval Castro, Xochitl YamileSoft robotics is redefining robotic systems by leveraging compliant materials, with soft actuators serving as key enablers of motion and functionality. Despite current strategies for designing soft pneumatic actuators, challenges remain in achieving tunable stiffness and deformation, limiting their versatility and reusability. This thesis explores a novel approach: integrating metamaterials as structural reinforcements to enable programmable deformation modes and localized stiffness control. To achieve this, functionally graded metamaterial beams are designed through a novel inverse method and incorporated into bending actuators. The study systematically evaluates the fabrication of reconfigurable actuators, the impact of varied reinforcements on stiffness and deformation, a constant curvature-based forward kinematic model, and an application case of a gripper capable of handling objects of different sizes and shapes. Additionally, metamaterial reinforcements are applied to origami-inspired contraction actuators, facilitating programmable motion for applications such as parallel platforms and robotic arms. By combining experimental, computational, and analytical methods, this research validates a novel strategy for the development of tunable soft actuators. The results demonstrate the ability to alter conventional deformation patterns, enabling unexpected capabilities such as inducing torsion in bending actuators and bending in contraction actuators. This work underscores the transformative potential of metamaterials in advancing reconfigurable and programmable soft actuators with tailored mechanical properties, paving the way for complex, real-world applications.
- Study of drone arm behavior with metamaterial implementation(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024-06-14) Villicaña García, Jorge Lino; Aragón Zavala, Alejandro; emimmayorquin; Treviño Quintanilla, Cecilia Daniela; Álvarez Trejo, Alberto; EIC Computación; Campus Monterrey; Cuan Urquizo, EnriqueAccess to data communications is restricted in different sectors of society, generally these problems are reflected in communities with difficult access being rural areas. The lack of connectivity in these communities has become a significant challenge, this Thesis presents an innovative approach focused on the design of a drone frame, which will be used as a means to connect communities with broadband communications, solving the problem of lack of coverage. The drone is proposed as an effective means to connect communities to broadband communications, acting as a key technological tool to address the lack of coverage. However, it is recognized that drones are not without risk, as they can suffer mishaps such as crashes or crash landings. Specifically, drone arms are identified as the parts most susceptible to significant damage, such as bending, cracking or complete breakage, due to the considerable impact forces involved. To mitigate these risks, computer-aided design (CAD) software is used to elaborate the comprehensive design of the drone frame. Special attention is focused on the drone arms, selecting them as the critical part to be analyzed. New designs incorporating reinforcement techniques are proposed and implemented, with the main objective of minimizing the risk of damage while ensuring the structural integrity of the drone. By understanding the relationship between design parameters and mechanical response, it is determined that the implementation of metamaterial in one section of the drone arm produces a lighter part with better stress distribution. In addition, an acceptable safety factor is achieved and the free vibration of the arm is mitigated. This project addresses the challenges inherent to the safety and robustness of drones frames, thus contributing to the advancement of connectivity in difficult to access environments.
- Non-planar additive manufacturing for biomedical applications(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024-06-14) Castro Avilés, Alejandro; Cuan Urquizo, Enrique; emimmayorquin; Román Flores, Armando; Botello Arredondo, Adeodato Israel; Mecánica y materiales avanzados; Campus Monterrey; Jiménez Palomar, InésFused filament fabrication (FFF) stands out as a prominent technology in additive manufacturing (AM) due to its affordability and versatility in equipment and materials. Its suitability for research and development is evident. Recent advancements have led to the development of non-planar AM using FFF 3D printers, enabling the fabrication of curved structures with enhanced mechanical and aesthetic properties. This innovation has significantly reduced printing time and material waste while expanding the capabilities of FFF to print non-planar metamaterials. Notably, FFF finds practical application in the 3D printing of cranioplasty implants. This thesis investigates the utilization of non-planar AM for manufacturing such implants, focusing on dome-shaped structures for mechanical testing. Various topologies, including hexagonal, re-entrant, and squared honeycomb metamaterials, are explored for reinforcement. The study culminates in a comparative analysis between traditional planar cranioplasty implants and those manufactured with non-planar layers and lattice reinforcement, offering insights into their respective benefits and limitations.
- Architected cylinders: design, micro-mechanics, additive manufacturing, and sensing capabilities characterization(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024-01-07) Betancourt Tovar, Mariajosé; Cuan Urquizo, Enrique; emipsanchez; Román Flores, Armando; Botello Arredondo, Adeodato Israel; Mecánica y Materiales Avanzados; Campus Monterrey; Ayala García, Ivo NeftaliArchitected matter could bring advantages that their fully solid counterparts cannot. Understanding their mechanics unveils critical elements impacting the overall structure deformation and monitoring these elements offers insights into structural behavior. This thesis encompasses the mechanical analysis of architected cylinders and how they could be used as sensing structures. Additionally, their potential in acquiring data from human grip strength is explored as a proof-of-concept. Hexagonal, re-entrant, and square rotated architected cylinders were parameterized in both rectangular and cylindrical cell arrangements. In the latter, the number of rotational degrees of symmetry was varied to evaluate their impact on the structures’ mechanical properties. After applying uniform pressure via computational simulations to the surfaces of the structures, it was found that the orientation of cell walls with respect to the applied load influenced their radial stiffness and deformation mechanism. Re-entrant models were the most flexible, while the square rotated ones were the stiffest. The deformation mechanism varied in re-entrant models when changing the rotational degrees of symmetry, which was attributed to the variation in length between concentric and non-concentric. The analysis of compression tests on 3D architected cylinders revealed that cylinders with a higher number of rotational degrees of symmetry, a rectangular cell arrangement, and a hexagonal topology exhibited stiffer behavior. Re-entrant models demonstrated auxetic behavior when one or more unit cells were aligned with the direction of the applied load. Concentric cell walls deformation was quantified using a curvature-based approach, comparing the area under the curvature function of a cell wall with the area of the undeformed cell wall. This ratio was compared to voltage signal of piezoresistive sensors that were inserted in the cell walls of architected cylinders. A relation was found between voltage and area under curvature ratios, suggesting sensor data reflects cell wall’s deformation. Two subjects tested the cylinders’ hand-gripping performance, yielding similar deformed shapes to those in the diametrical compression. This suggests that the curvature-based approach and sensors’ integration are methods that can contribute to the development of an architected de vice capable of obtaining hand-gripping information. Further work to achieve this objective may involve conducting mechanical characterization studies with varied orientations of cell arrangements relative to the applied load. Additionally, adjusting the dimensions of sensing cylindrical structures based on anthropometric percentile data could enhance conformity to the hand morphology of specific populations.
- Deformation control of sinusoidal lattice metamaterial for application in robotics(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2023-12-05) Mora Gutiérrez, Stephanie; Cuan Urquizo, Enrique; emipsanchez; Pérez Santiago, Rogelio; Román Flores, Armando; Escuela de Ingeniería y Ciencias; Campus MonterreyThis study presents a methodology for controlling deformation in a sinusoidal metamaterial using parametric design, FEM simulation, and 3D printing. The focus is on generating a design where the deformation of the metamaterial can be controlled and thus be able to apply it in a flexible gripper using a sinusoidal metamaterial as base material. The parametric design approach is employed to create a structure of the sinusoidal unit cell, and FEM simulation is used to evaluate its mechanical behavior and compare it with the Experimental testing. The sinusoidal metamaterial is then 3D printed using a flexible TPU filament. Experimental testing also demonstrates the gripper's adaptability and deformation control. The results validate the effectiveness of the design, showing the deformation control of the sinusoidal structure, also improved grip capacity and manipulation capabilities. This study has significant potential for applications in robotics. The combination of generative design, FEM simulation, and 3D printing enables the creation of customized and functional grippers that can adapt to various object shapes and sizes.
- 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.
- Novel Bézier-based metamaterials: synthesis, mechanics and additive manufacturing(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2021-06-04) Álvarez Trejo, Alberto; CUAN URQUIZO, ENRIQUE; 345654; Cuan Urquizo, Enrique; emipsanchez; Alvarado Orozco, Juan Manuel; Farfán Cabrera, Leonardo Israel; Olvera Silva, Oscar; Escuela de Ingeniería y Ciencias; Campus Monterrey; Román Flores, ArmandoThe design of mechanical metamaterials often uses lattice arrangements being benefited from the increase in Additive Manufacturing technologies available. Such design freedom allows the fabrication of lattice arrangements with complex curved geometries. Here we propose a whole family of novel lattice matematerials parametrized using cubic Bézier curves. The methodology presented permits the generation of unit cells with different degrees of curvature based on the location of the Bézier control points along a spiral. The apparent stiffness of these structures was characterized using finite element analysis (FEA) and compression tests on additively manufactured samples using stereolithography (SLA). The mechanical properties of spiral based cubic Bézier (SBCB) metamaterials were related to the location of the control points. The methodology was expanded to generate metamaterials with porosity in the three orthogonal planes, and the apparent stiffness of these structures was obtained by FEA. The procedure presented for the synthesis of metamaterials enables the generation of structures with customized mechanical properties by adjusting the geometry of the unit cells. The apparent stiffness of both 2D and 3D SBCB metamaterials from simulation was compared to existing metamaterials,defining a design region that is limited by manufacturing and geometry conditions.