Ansoategi Belategi, IgorCampa Gómez, Francisco JavierLopez Ugarte, CarolinaBoyano Murillo, Ana Isabel2024-11-272024-11-27production.39947https://dx.doi.org/10.26876/ikergazte.ii.03.17https://gordailua.ueu.eus/handle/123456789/2324Makina-erreminta industriarako makina haundien garapenak zurruntasun mugatuarekin pisu haundiak mugitzean arazoak sortzen ditu. Makina hauek diseinatzerakoan, eredu mekatroniko berriak behar dira. Lan honetan 3 askatasun maila duen eredu bat aurkezten da. Mugituko den elementuak eragina izango duela ikusten da. Makina bertikal baten zutabea zurrun infinitua dela kontuan hartzean, erremintaren puntan nahi dugun balioa edukitzeko, “jerk”-aren komandoan %90-eko errorea suposatuko du. Ereduaren azterketa esperimentala burutzen da.Moving big weights with limited rigidity can cause problems regarding development of big machines in the machine tool industry. New mechatronic models must be developed when designing these machines. In this work a 3 degree of freedom model is presented. The influence of the movement of the elements is described. Considering infinite rigid the column of a vertical machine, trying to get the desired value at the tip of the tool, will result in an error of 90% of the "jerk" command. The experimental assessment of the model is carried out.eredu mekatronikoajerkerroreak.mechatronic modeljerkerrors.IngeniaritzaMekanikaintroduction