The development and implementation process of a computer interface for the kinematic analysis of a parallel robot, in delta configuration, and its application to a previously formed prototype are exposed. Being identified the associated equations, and deduced the respective geometric parameters. On the other hand, the synthesis of the direct and inverse kinematic models, with the Matlab software, guarantees the calculation of a specific Cartesian position, in the end effector of the robot used, once certain joint values have been assigned to it, or vice versa. Finally, a user-friendly graphical interface is created, whose functions are: data entry, resolution of the models described, issuance of the corresponding results, representation of the robot used and its physical manipulation. The results obtained in the real location of the end effector with respect to the values deduced by the interface, are competitive for both models analyzed, even though the prototype used operates by means of servomotors. An average position error of 0.083 cm per axis and overall of 0.006 cm is observed during the tests developed.

Non-contact techniques have returned to optical metrology one of the most booming branches of science, making digital speckle photography (DSP) one of the most used in the measurement of structural changes in surfaces. This technique uses a laser as a measurement system and compares the changes in the speckle pattern obtained by irradiating the surface that is subjected to deformations; however, the alignment of these systems plays an important role in the results obtained. In this work, the alignment errors of an optical system are estimated based on the analysis of the Fraunhofer diffraction pattern, as well as the statistical properties of the speckle pattern for field near and far. The results indicate that the alignment of the light beam can be determine by a fringes quantification system when passing through a pinhole and that the highly developed speckle pattern is more similar to the intensity distribution shown in the literature.

Non-contact techniques for the analysis of deformations on surfaces has had great boom and acceptance in various sectors of science. When a beam of light with characteristics of temporal and spatial coherence radiates about optically rough surface, it presents a random distribution of intensity, giving rise to the phenomenon called speckle; said phenomenon is a representation of bright and dark dots formed by the random distribution of said coherent light, this distribution of overlapping speckle patterns generate interference fringes, its fringes are presented when in second pattern fringes has phase difference between them, which, give information about the state of deformation suffered by the material that is analyzed. This work reports the procedure that is followed for the analysis of deformations in materials using interferometric techniques. Different configurations of interference fringes are presented, and the procedure for their demodulation is described.

This document proposes an application of the theory of control systems in discrete events, and its synthesis using GRAFCET specification, for the management of a prototype system for handling and classifying objects by color. The interaction and synchronization between a robot in angular configuration and a conveyor belt are exposed as active elements, in order to establish a sequence of tasks to be executed; which begins with the entry of an object to the process, to end with the positioning of the same in the respective deposit, once its color has been identified. The development of the prototype for testing, the definition and programming of the process control system based on the suggested methodology and the integration of the graphical interface that allows the user to view its status is shown. The results suggest that the application of formal methods, such as GRAFCET, promote the establishment of a functional, structured, scalable, distributed and concurrent control system, by allowing adequate decentralization of the tasks that each active element must execute and at the same time determine its timely action, no interference with each other.