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The transesterification of rapeseed and castor oil methyl esters with different alcohols (2-ethyl-1-hexanol, 1-heptanol and 4-methyl-2-pentanol) and titanium isopropoxide as a catalyst, to produce biolubricants, was carried out. Parameters such as temperature, alcohol/methyl ester molar ratio, and catalyst concentration were studied to optimize the process. The reaction evolution was monitored with the decrease in FAME concentration by gas chromatography. In general, the reaction was almost complete in two hours, obtaining over 93% conversions. All the variables studied influenced on the reaction yields. Once the optimum conditions for the maximum conversion and minimum costs were selected, a characterization of the biolubricants obtained, along with the study of the influence of the kind of alcohol used, was carried out. The biolubricants had some properties that were better than mineral lubricants (flash points between 222 and 271 °C), needing the use of additives when they do not comply with the standards (low viscosity for rapeseed biolubricant, for instance). There was a clear influence of fatty acids of raw materials (oleic and ricinoleic acids as majority fatty acids in rapeseed and castor oil, respectively) and the structure of the alcohol used on the final features of the biolubricants.