Reference no: EM132529394

ME7732 Mechatronic Design and Automation - Kingston University London

Assessment - Mechanisms design, simulation and analysis

Learning Outcome 1: Demonstrate through examples understanding of mechatronics systems and their application in automation.

Learning Outcome 2: Apply design process, enumeration to mechanical mechanisms such as automotive, robotics etc. and analysis of their structural characteristics.

Learning Outcome 3: Use specialized software to analyze, simulate and develop real time implementation of the designed mechanisms.

TASK 1

The small welding two-link planar manipulator shown in Figure 1 welds a structure in an automotive production line. The arm OA is pivoted to a fixed point at O and to the arm AB at A. The angles θ₁ and θ₂ are controlled such that the end-effector (welding electrode) B moves on a straight line path from (0.3m,0.0m) to (0.0m,0.3m) with constant velocity v=2 m/s. The lengths of the arms are OA=0.3 m and AB=0.2 m.

1. Use MATLAB to find:
i) The angles θ₁ and θ₂.
ii) The angular velocities of arms OA and AB.

2. Use NX to simulate the manipulator, then compare between MATLAB results and NX results.

Figure 1: Two-link planar manipulator

TASK 2

In the four-bar planar mechanism shown in Figure 2 the crank AB is driven by a motor with a torque Tmat constant angular velocity ω₁ = 100 rad/s, the follower CD carries a load torque Tl , assume Tl = 0 N.m. The four-bar mechanism parameters are:

r1=10mm, r2=35mm, r3=20mm, r4=30mm
rG1= 5mm, rG2 =17.5mm, rG3 =10mm
m1= 0.2Kg, m2 = 0.6Kg, m3 = 0.4Kg
IG1 =1.0x10-5Kg.m2, IG2=4.0x10-4Kg.m2, IG3= 8.0x10-5Kg.m2

1. Use MATLAB to find:
i) The motor torque Tm.
ii) Forces at the joints A, B, C, and D.

2. Use NX to simulate the four-bar mechanism, then compare between MATLAB results and NX results.

Figure 2:Four-bar planar mechanism

C) Report presentation and quality

Report should include abstract, methodology section, results & discussion section and references (appropriate citation method should be used).