Vibrations can have an adverse effect on the accuracy of the end effector of a

Save this PDF as:
 WORD  PNG  TXT  JPG

Size: px
Start display at page:

Download "Vibrations can have an adverse effect on the accuracy of the end effector of a"

Transcription

1 EGR 315 Design Project Executive Summary Vibrations can have an adverse effect on the accuracy of the end effector of a multiple-link robot. The ability of the machine to move to precise points scattered around its work envelope repeatedly over time is essential to its purpose. Any vibration occurring at the manipulator will jeopardize this precision. The purpose of this design study is to examine the vibrations at the end effector, determine the sources of these vibrations, and suggest design improvements to reduce the effect of the vibrations. The study was done by obtaining some preliminary knowledge of similar studies done in this area, researching the machine being studied, taking experimental data using accelerometers and a data acquisition system, analyzing the data taken, and determining the source and solution to vibrations seen at the manipulator. Several design solutions were proposed, including the addition of a vibration damping material between the links of the robot, and some suggestions for future design studies involving mechanical aspects of the robot design.

2 EGR 315 Design Project Table of Contents Introduction... 3 Literature Review... 3 Research Approach... 4 Experimental Details... 6 Data Analysis and Observations... 9 Design Studies Conclusions and Future Work References... 13

3 EGR 315 Design Project Introduction The focus of this design project is to analyze the effect of vibrations on the end effector of a five axis Mitsubishi RV-M1 robot. Specifically, the focus was on the movement of the gripper at the end of the movement to a certain point. When the robot stops moving there is a considerable amount of vibration in the end effector, so much that it is visible to the naked eye. This movement may have adverse effects on the accuracy of the robot, which is one of the key advantages of using robotics. The purpose of this design project is to measure the vibration seen at the end effector and determine the source of the vibration. Once this information was gathered, design solutions were proposed to isolate the sources of vibration from the end effector. The following report contains information on studies that have been performed in this field, the research done on the specific topic, the data collected during experimentation, analysis of this data, and design solutions based on the research and data. Literature Review Much of the research that has been done in the field of robot manipulators has dealt with the effect of vibrations on the end effector of flexible arm robots. Internet searches were the main source for information regarding this topic. Two articles regarding this subject were found, both focusing on similar testing. Tests were done measuring the accuracy of the end effector after being given a specific point. The error seen in the position of the effector has been attributed to the accuracy of the motors controlling the rotation of the links of the robot arm (5). The studies did measurements on end effector position before and after adding vibration damping in the links. Specific

4 EGR 315 Design Project information on how these vibrations were isolated was very brief, and details regarding the exact method of doing so were not available. Research Approach The research done on this project involved examination of robotics manuals, texts on robotics, several websites devoted to the use of robotics, and experimentation with the robot being considered. The main focus of the research involved determining the equations of motion for the robot arm. There was no discrete information regarding the equations for the specific robot considered in this project, which is why robot manuals were examined. The manuals had information regarding the development of equations of motion for robots, but the mathematical methods involved were not familiar to the analysts. Equations for a two-arm manipulator were provided, and these were used as the theoretical basis of the design project. The equations included terms accounting for the angular acceleration of the joints, the effect of gravity on the system, and the coriolis effect. For our system, it was sufficient to ignore the effect of gravity since the robot is fixed to the table, and to neglect the coriolis effect because we were moving the arm at slow speeds which did not produce significant centrifugal forces. Due to the fact that the theoretical system matrix was that of a two-link manipulator and the experimental system had five degrees of freedom, it was not realistic to compare the results of the two and determine whether or not the model was an accurate representation of the actual system. Another constraint to the analysis was the wide range of motion that the robot can possibly move through, and the large operating envelope, which is displayed in Figure 1.

5 EGR 315 Design Project Figure 1 Operating Envelope of Mitsubishi RV-M1 Robot (7) To simplify our analysis and keep within reasonable time constraints, one particular motion of the robot arm was chosen to do analysis of. The goal was to do analysis on the worst-case scenario; the movement that produced the maximum magnitude of vibration in the end effector. This determination was made based on visual analysis of the vibrations seen with varying angles between the links. The resulting case was that of the arm extended to the limit of the operating envelope, where the end effector was farthest from the base. In this configuration, the robot has the freedom to move in two axes: up and down and left and right. Because of this freedom of motion, analysis was done on the vibrations seen while moving in each direction, with measurements made on both axes during each trial.

6 EGR 315 Design Project Experimental Details To analyze the vibrations in the system, accelerometers were placed on the robot at the end gripper, the elbow and on the upper arm area. In the vertical direction, an accelerometer with the serial number and a conversion rate of 98.6mV/g was used and connected to channel 0. In the horizontal direction, an accelerometer with the serial number and a conversion rate of 110.3mV/g was used and connected to channel 1. When testing, the grippers on the robot were always closed and markings on the robots axes of rotation were used to make the data collection as repeatable as possible. Each accelerometer used was connected via a microdot cable to a signal conditioner. This signal conditioner is used the cut down on outside electrical noise and to clean the signal to a form that can be used by the data acquisition board. Each signal conditioner is connected to the data acquisition board (DAQ), which is then connected to the PCI card slot on the laptop. Once all connections are complete, and the laptop is running, Microsoft Excel is opened and the DAS Wizard->DAS Tasks tool is chosen. Using that tool, the rate of 2000 samples per second for a total of 5 seconds is set up for the correct DAQ board. After running the task that was set up, at least 3 times for the gripper, elbow and the upper arm and for movement vertically and horizontally, some problems were noted in the data. First, at times, perfectly horizontal voltages were noted. Obviously, these were not actual accelerations, but readings caused by interference or shorts in the circuitry. Additionally, we noted that when the robot was powered off, much of that interference disappeared. As seen in figure 2, the noise level is very low.

7 EGR 315 Design Project No Power To Robot Volts side top Figure 2. However, the best that we were able to obtain when the robot was powered on can be seen in Figure 3. Robot Powered On Volts side top Figure 3. As can be seen from these figures, the input from the accelerometers during no movement is not zero, even when the robot is not on. However, when it is turned on,

8 EGR 315 Design Project there is an increase in this ambient noise. The voltages peak at over.005 Volts or 5 mv. At times, this noise was significantly larger than what is seen in Figure 3 and was quite often a horizontal line, indicating a constant voltage from a source other than the accelerometers input. Another problem encountered can also be noted from the above two figures. Other than the fact that they are never constant at 0, indicating no movement and acceleration, the two inputs are also always offset from one another. Sometimes the input form the top is above that of the side, and at other times vice versa. This makes it nearly impossible to easily subtract out known noise from the input to get to the real acceleration inputs. Another problem encountered was separating out the vibrations due to the systems modes, and which ones are caused by any internal servo motors and vibrations caused by their spinning.

9 EGR 315 Design Project Data Analysis and Observations Direction of Movement and sensor placement Up and Down, gripper sensor on side Frequencies peaks seen at 70.4, 140, Up and Down, gripper sensor on top 70.5 Left and Right, gripper on side 70, 140 Left and right, gripper on top Minor at 140, equivalent to 60 Up and Down, measured at elbow at side Up and Down, measured at elbow on Top Left and Right, measured at elbow on side Left and riht, measured at elbow on top Up and Down, measured at Upper arm on side Up and Down, measured at Upper arm on top 70, 140, 210, 280, , minor at 140, 210, 280, None 70, 140, major at , minor at 140, 210 Left and right, measured at Upper arm on side Left and right, measured at upper arm on top 140, , 140 both minor Table 1.

10 EGR 315 Design Project When looking at the above table, it is easy to see a pattern. Nearly every time we looked at the fourier transform of a set of data, there was either 70 Hz or 140 Hz as a peak. At first, there was concern that these frequencies were not actually nodes. Since there are internal motors that run the arms, it was a concern that these frequencies were actually the frequency at which the motors were running. Once the manual for the robots was found, it was discovered that the robots servo motors run at 30W. Mitsubishi Electric s website lists a wide variety of servo motors, some of which run at 30W. However, those motors which run at 30W run at a max of 3000 rpm (6). To get to a frequency of 70 Hz, one would need to run at a speed of 4200 rpm. The motors were thus eliminated, at least to some extent, since they would have to be running well beyond their design to be running at 4200 rpm. Another concern was that electrical noise was adversely affecting our results. Thus, 60 Hz and multiples there of were watched closely. However, no peaks at 60 Hz or any multiples there of were discovered. Although some peaks were seen at 6-10Hz, these did not appear consistently and were most likely rigid body modes and appeared because we could not completely secure the robot. The peaks at 70 Hz and multiples there of appeared in virtually every area of measurement and during side to side and up and down movement of the robot. When looking at multiple data sets and fourier transforms for the same times of movements and the same sensor placement, it was amazing how much each looked alike. Even when comparing what seemed like completely separate sets of data and types of motion, the same peaks would occur at multiples of 70 Hz.

11 EGR 315 Design Project Design Studies Based on research and experimental data recorded, there is limited design solutions to the system being analyzed. Several sources can be attributed to causing the problems this project has set out to solve. The first is the mechanics of the robot. It uses DC motors to control the link arms, and these have inherent limitations that cannot be overcome within the scope of the project. More accurate and smoother running actuators could be implemented, but the scope of this study is to analyze the conditions that exist within the current configuration. The controller of the robot is another source of error. There is a certain time delay between the event of the user pressing a button to move the arms and the actual movement of the robot itself. In a similar fashion, there is a time delay when the user wants the robot to stop and when it actually stops moving. Once again, a more accurate and faster transmitting system could be implemented to alleviate some of the problems, but that is not in the scope of the project. The design solution that is best suited to this application is the isolation of the vibration causing elements from the end effector. This can be done with isolation rings, which are simply ring-shaped elements, composed of rubber or other vibration absorbing material. These could be placed at the joint of each link along the arm of the robot, each one essentially isolating one link from the other. The net result would be a significant reduction in the vibrations transmitted to the end effector, which is the end goal of the design study.

12 EGR 315 Design Project Conclusions and Future Work Based on the results of the design study, it can be concluded that vibrations do have a significant effect on the end effector of a multiple-link robot. The source of these vibrations is mainly the actuators controlling the movement of the joints; in this case DC servo motors. There are other sources of concern that may attribute a smaller amount to the excitation of vibrations in the end effector, but solutions to these problems were not part of the problem definition. An effective solution to reduce the effects of vibration in the manipulator is the use of a damping material between each link of the robot, to isolate the manipulator from the sources of vibration. Future design studies could focus on aspects of the design that were within the scope of this project. Design of a more accurate and faster transmitting control device for the robot is one area that research can be done, along with designing a more accurate actuating system to move the links of the robot.

13 EGR 315 Design Project References 1.) Fu, K.S., R.C. Gonzalez and C.S.G. Lee. Robotics: Control, Sensing, Vision, and Intelligence. McGraw Hill pp ) Craig, John J. Introduction to Robotics: Mechanics and Control. Addison Wesley pp ) Thomson, William T. and Marie Dillon Dahleh.Theory of Vibration with Applications. Prentice Hall. 4.) Learning Ballistic Movements of a Robot Arm. Internet source. 5.) Kobayashi, Nobuyuki and Kenji Tamechika. Vibration Suppression Control of Flexible Robot Arm. Aoyama Gaukin University, Setagaya-Ku, Tokoyo, Japan. 6.) Mitsubishi Servo Motor Line-up. Mitsubishi Electric. Internet source. 7.) MovemasterRV-M1 Micro Robot. Rixan Associates, Inc. Internet source.

Active Vibration Isolation of an Unbalanced Machine Spindle

Active Vibration Isolation of an Unbalanced Machine Spindle UCRL-CONF-206108 Active Vibration Isolation of an Unbalanced Machine Spindle D. J. Hopkins, P. Geraghty August 18, 2004 American Society of Precision Engineering Annual Conference Orlando, FL, United States

More information

ACTUATOR DESIGN FOR ARC WELDING ROBOT

ACTUATOR DESIGN FOR ARC WELDING ROBOT ACTUATOR DESIGN FOR ARC WELDING ROBOT 1 Anurag Verma, 2 M. M. Gor* 1 G.H Patel College of Engineering & Technology, V.V.Nagar-388120, Gujarat, India 2 Parul Institute of Engineering & Technology, Limda-391760,

More information

Using angular speed measurement with Hall effect sensors to observe grinding operation with flexible robot.

Using angular speed measurement with Hall effect sensors to observe grinding operation with flexible robot. Using angular speed measurement with Hall effect sensors to observe grinding operation with flexible robot. François Girardin 1, Farzad Rafieian 1, Zhaoheng Liu 1, Marc Thomas 1 and Bruce Hazel 2 1 Laboratoire

More information

Time Domain and Frequency Domain Techniques For Multi Shaker Time Waveform Replication

Time Domain and Frequency Domain Techniques For Multi Shaker Time Waveform Replication Time Domain and Frequency Domain Techniques For Multi Shaker Time Waveform Replication Thomas Reilly Data Physics Corporation 1741 Technology Drive, Suite 260 San Jose, CA 95110 (408) 216-8440 This paper

More information

Cell Phone Vibration Experiment

Cell Phone Vibration Experiment Objective Cell Phone Vibration Experiment Most cell phones are designed to vibrate. But at what frequency do they vibrate? With an accelerometer, data acquisition and signal analysis the vibration frequency

More information

FUNDAMENTALS OF ROBOTICS

FUNDAMENTALS OF ROBOTICS FUNDAMENTALS OF ROBOTICS Lab exercise Stäubli AULINAS Josep (u1043469) GARCIA Frederic (u1038431) Introduction The aim of this tutorial is to give a brief overview on the Stäubli Robot System describing

More information

IMU Components An IMU is typically composed of the following components:

IMU Components An IMU is typically composed of the following components: APN-064 IMU Errors and Their Effects Rev A Introduction An Inertial Navigation System (INS) uses the output from an Inertial Measurement Unit (IMU), and combines the information on acceleration and rotation

More information

FRC WPI Robotics Library Overview

FRC WPI Robotics Library Overview FRC WPI Robotics Library Overview Contents 1.1 Introduction 1.2 RobotDrive 1.3 Sensors 1.4 Actuators 1.5 I/O 1.6 Driver Station 1.7 Compressor 1.8 Camera 1.9 Utilities 1.10 Conclusion Introduction In this

More information

dspace DSP DS-1104 based State Observer Design for Position Control of DC Servo Motor

dspace DSP DS-1104 based State Observer Design for Position Control of DC Servo Motor dspace DSP DS-1104 based State Observer Design for Position Control of DC Servo Motor Jaswandi Sawant, Divyesh Ginoya Department of Instrumentation and control, College of Engineering, Pune. ABSTRACT This

More information

INTRODUCTION TO SERIAL ARM

INTRODUCTION TO SERIAL ARM INTRODUCTION TO SERIAL ARM A robot manipulator consists of links connected by joints. The links of the manipulator can be considered to form a kinematic chain. The business end of the kinematic chain of

More information

Robotics and Automation Blueprint

Robotics and Automation Blueprint Robotics and Automation Blueprint This Blueprint contains the subject matter content of this Skill Connect Assessment. This Blueprint does NOT contain the information one would need to fully prepare for

More information

Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and Motion Optimization for Maritime Robotic Research

Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and Motion Optimization for Maritime Robotic Research 20th International Congress on Modelling and Simulation, Adelaide, Australia, 1 6 December 2013 www.mssanz.org.au/modsim2013 Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and

More information

X8 Option 2 - Technology

X8 Option 2 - Technology moog AC DC AC 4 to 450 A 4 to 210 A Compact MSD Servo Drive TTL in out Specification X8 Option 2 - Technology TTL Encoder Simulation / TTL Master Encoder moog Specification Option 2 - Technology TTL encoder

More information

Autonomous Mobile Robot-I

Autonomous Mobile Robot-I Autonomous Mobile Robot-I Sabastian, S.E and Ang, M. H. Jr. Department of Mechanical Engineering National University of Singapore 21 Lower Kent Ridge Road, Singapore 119077 ABSTRACT This report illustrates

More information

Modal Excitation. D. L. Brown University of Cincinnati Structural Dynamics Research Laboratory. M. A. Peres The Modal Shop Inc Cincinnati, OH

Modal Excitation. D. L. Brown University of Cincinnati Structural Dynamics Research Laboratory. M. A. Peres The Modal Shop Inc Cincinnati, OH D. L. Brown University of Cincinnati Structural Dynamics Research Laboratory M. A. Peres The Modal Shop Inc Cincinnati, OH Intoduction The presentation is concerned with a short tutorial on modal excitation.

More information

Force/position control of a robotic system for transcranial magnetic stimulation

Force/position control of a robotic system for transcranial magnetic stimulation Force/position control of a robotic system for transcranial magnetic stimulation W.N. Wan Zakaria School of Mechanical and System Engineering Newcastle University Abstract To develop a force control scheme

More information

Onboard electronics of UAVs

Onboard electronics of UAVs AARMS Vol. 5, No. 2 (2006) 237 243 TECHNOLOGY Onboard electronics of UAVs ANTAL TURÓCZI, IMRE MAKKAY Department of Electronic Warfare, Miklós Zrínyi National Defence University, Budapest, Hungary Recent

More information

Hand Gestures Remote Controlled Robotic Arm

Hand Gestures Remote Controlled Robotic Arm Advance in Electronic and Electric Engineering. ISSN 2231-1297, Volume 3, Number 5 (2013), pp. 601-606 Research India Publications http://www.ripublication.com/aeee.htm Hand Gestures Remote Controlled

More information

Design of a six Degree-of-Freedom Articulated Robotic Arm for Manufacturing Electrochromic Nanofilms

Design of a six Degree-of-Freedom Articulated Robotic Arm for Manufacturing Electrochromic Nanofilms Abstract Design of a six Degree-of-Freedom Articulated Robotic Arm for Manufacturing Electrochromic Nanofilms by Maxine Emerich Advisor: Dr. Scott Pierce The subject of this report is the development of

More information

Steps to selecting the right accelerometer TP 327

Steps to selecting the right accelerometer TP 327 Steps to selecting the right accelerometer TP 327 Steps to selecting the right accelerometer At first look, an accelerometer manufacturer s catalog or web site can be intimidating to both the novice and

More information

Design of an Arm Exoskeleton Controlled by the EMG Signal

Design of an Arm Exoskeleton Controlled by the EMG Signal Design of an Arm Exoskeleton Controlled by the EMG Signal Mark Novak Cornel College PHY312 December 2011 Professor Derin Sherman Introduction An exoskeleton is a supporting structure on the outside of

More information

Industrial Robotics. Training Objective

Industrial Robotics. Training Objective Training Objective After watching the program and reviewing this printed material, the viewer will learn the basics of industrial robot technology and how robots are used in a variety of manufacturing

More information

Kinematics and Dynamics of Mechatronic Systems. Wojciech Lisowski. 1 An Introduction

Kinematics and Dynamics of Mechatronic Systems. Wojciech Lisowski. 1 An Introduction Katedra Robotyki i Mechatroniki Akademia Górniczo-Hutnicza w Krakowie Kinematics and Dynamics of Mechatronic Systems Wojciech Lisowski 1 An Introduction KADOMS KRIM, WIMIR, AGH Kraków 1 The course contents:

More information

Subminiature Load Cell Model 8417

Subminiature Load Cell Model 8417 w Technical Product Information Subminiature Load Cell 1. Introduction... 2 2. Preparing for use... 2 2.1 Unpacking... 2 2.2 Using the instrument for the first time... 2 2.3 Grounding and potential connection...

More information

There are many different type of accelerometers and each has unique characteristics, advantages and disadvantages. The different types include:

There are many different type of accelerometers and each has unique characteristics, advantages and disadvantages. The different types include: How does a piezo-electric accelerometer work? Piezo-electric crystals are man-made or naturally occurring crystals that produce a charge output when they are compressed, flexed or subjected to shear forces.

More information

Understanding Dynamic Range in Acceleration Measurement Systems. February 2013 By: Bruce Lent

Understanding Dynamic Range in Acceleration Measurement Systems. February 2013 By: Bruce Lent in Acceleration Measurement Systems February 2013 By: Bruce Lent Topics to discuss Definition of dynamic range The effective range Making full use of the high level Using filters to improve dynamic range

More information

Precise Modelling of a Gantry Crane System Including Friction, 3D Angular Swing and Hoisting Cable Flexibility

Precise Modelling of a Gantry Crane System Including Friction, 3D Angular Swing and Hoisting Cable Flexibility Precise Modelling of a Gantry Crane System Including Friction, 3D Angular Swing and Hoisting Cable Flexibility Renuka V. S. & Abraham T Mathew Electrical Engineering Department, NIT Calicut E-mail : renuka_mee@nitc.ac.in,

More information

10 tips for servos and steppers a simple guide

10 tips for servos and steppers a simple guide 10 tips for servos and steppers a simple guide What are the basic application differences between servos and steppers? Where would you choose one over the other? This short 10 point guide, offers a simple

More information

DYNAMICAL ANALYSIS OF SILO SURFACE CLEANING ROBOT USING FINITE ELEMENT METHOD

DYNAMICAL ANALYSIS OF SILO SURFACE CLEANING ROBOT USING FINITE ELEMENT METHOD International Journal of Mechanical Engineering and Technology (IJMET) Volume 7, Issue 1, Jan-Feb 2016, pp. 190-202, Article ID: IJMET_07_01_020 Available online at http://www.iaeme.com/ijmet/issues.asp?jtype=ijmet&vtype=7&itype=1

More information

Industrial Robot Technology

Industrial Robot Technology Unit 132: Industrial Robot Technology Unit code: Y/602/5130 QCF Level 3: BTEC Nationals Credit value: 10 Guided learning hours: 60 Aim and purpose This unit will develop learners understanding of the operation

More information

EVAL-UFDC-1/UFDC-1M-16

EVAL-UFDC-1/UFDC-1M-16 Evaluation Board for Universal Frequency-to- Digital Converters UFDC-1 and UFDC-1M-16 EVAL-UFDC-1/UFDC-1M-16 FEATURES Full-Featured Evaluation Board for the Universal Frequency-to-Digital Converters UFDC-1

More information

EDUMECH Mechatronic Instructional Systems. Ball on Beam System

EDUMECH Mechatronic Instructional Systems. Ball on Beam System EDUMECH Mechatronic Instructional Systems Ball on Beam System Product of Shandor Motion Systems Written by Robert Hirsch Ph.D. 998-9 All Rights Reserved. 999 Shandor Motion Systems, Ball on Beam Instructional

More information

THERMAL ANEMOMETRY ELECTRONICS, SOFTWARE AND ACCESSORIES

THERMAL ANEMOMETRY ELECTRONICS, SOFTWARE AND ACCESSORIES TSI and TSI logo are registered trademarks of TSI Incorporated. SmartTune is a trademark of TSI Incorporated. THERMAL ANEMOMETRY ELECTRONICS, SOFTWARE AND ACCESSORIES IFA 300 Constant Temperature Anemometry

More information

STATIC AND KINETIC FRICTION

STATIC AND KINETIC FRICTION STATIC AND KINETIC FRICTION LAB MECH 3.COMP From Physics with Computers, Vernier Software & Technology, 2000. INTRODUCTION If you try to slide a heavy box resting on the floor, you may find it difficult

More information

CIM Computer Integrated Manufacturing

CIM Computer Integrated Manufacturing INDEX CIM IN BASIC CONFIGURATION CIM IN ADVANCED CONFIGURATION CIM IN COMPLETE CONFIGURATION DL CIM A DL CIM B DL CIM C DL CIM C DL CIM B DL CIM A Computer Integrated Manufacturing (CIM) is a method of

More information

Animations in Creo 3.0

Animations in Creo 3.0 Animations in Creo 3.0 ME170 Part I. Introduction & Outline Animations provide useful demonstrations and analyses of a mechanism's motion. This document will present two ways to create a motion animation

More information

Effective Use of Android Sensors Based on Visualization of Sensor Information

Effective Use of Android Sensors Based on Visualization of Sensor Information , pp.299-308 http://dx.doi.org/10.14257/ijmue.2015.10.9.31 Effective Use of Android Sensors Based on Visualization of Sensor Information Young Jae Lee Faculty of Smartmedia, Jeonju University, 303 Cheonjam-ro,

More information

Module 1: Sensor Data Acquisition and Processing in Android

Module 1: Sensor Data Acquisition and Processing in Android Module 1: Sensor Data Acquisition and Processing in Android 1 Summary This module s goal is to familiarize students with acquiring data from sensors in Android, and processing it to filter noise and to

More information

Lab 2 Sensor Modeling Introduction to the Wiimote and the Wiimote LABVIEW Interface

Lab 2 Sensor Modeling Introduction to the Wiimote and the Wiimote LABVIEW Interface Lab 2 Sensor Modeling Introduction to the Wiimote and the Wiimote LABVIEW Interface 1. Objective In this lab, you will: i. Become familiar with the Wiimote ii. Understand the LABVIEW Bluetooth interface

More information

F1 Fuel Tank Surging; Model Validation

F1 Fuel Tank Surging; Model Validation F1 Fuel Tank Surging; Model Validation Luca Bottazzi and Giorgio Rossetti Ferrari F1 team, Maranello, Italy SYNOPSIS A Formula One (F1) car can carry more than 80 kg of fuel in its tank. This has a big

More information

Interactive Animation: A new approach to simulate parametric studies

Interactive Animation: A new approach to simulate parametric studies Interactive Animation: A new approach to simulate parametric studies Darwin Sebayang and Ignatius Agung Wibowo Kolej Universiti Teknologi Tun Hussein Onn (KUiTTHO) Abstract Animation is the one of novel

More information

MCE603: Interfacing and Control of Mechatronic Systems. Topic 7c: Piezoelectric Accelerometers and Strain Sensors. Charge Amplifiers.

MCE603: Interfacing and Control of Mechatronic Systems. Topic 7c: Piezoelectric Accelerometers and Strain Sensors. Charge Amplifiers. MCE603: Interfacing and Control of Mechatronic Systems Chapter 7: Actuators and Sensors Topic 7c: Piezoelectric Accelerometers and Strain Sensors. Charge Amplifiers. Reference: Gautschi, Ch.9. Cleveland

More information

TwinCAT NC Configuration

TwinCAT NC Configuration TwinCAT NC Configuration NC Tasks The NC-System (Numeric Control) has 2 tasks 1 is the SVB task and the SAF task. The SVB task is the setpoint generator and generates the velocity and position control

More information

220135 - Fundamentals of Robotics

220135 - Fundamentals of Robotics Coordinating unit: Teaching unit: Academic year: Degree: ECTS credits: 2016 205 - ESEIAAT - Terrassa School of Industrial, Aerospace and Audiovisual Engineering 707 - ESAII - Department of Automatic Control

More information

Tarot 2-Axis Brushless Gimbal for Gopro User Manual V1.0

Tarot 2-Axis Brushless Gimbal for Gopro User Manual V1.0 Tarot 2-Axis Brushless Gimbal for Gopro User Manual V1.0 1. Introduction Tarot T-2D gimbal is designed for the Gopro Hero3, which is widely used in film, television productions, advertising aerial photography,

More information

Solar Tracking Controller

Solar Tracking Controller Solar Tracking Controller User Guide The solar tracking controller is an autonomous unit which, once configured, requires minimal interaction. The final tracking precision is largely dependent upon the

More information

POTENTIAL OF STATE-FEEDBACK CONTROL FOR MACHINE TOOLS DRIVES

POTENTIAL OF STATE-FEEDBACK CONTROL FOR MACHINE TOOLS DRIVES POTENTIAL OF STATE-FEEDBACK CONTROL FOR MACHINE TOOLS DRIVES L. Novotny 1, P. Strakos 1, J. Vesely 1, A. Dietmair 2 1 Research Center of Manufacturing Technology, CTU in Prague, Czech Republic 2 SW, Universität

More information

Computer Controlled Generating Stations Control and Regulation Simulator, with SCADA SCE

Computer Controlled Generating Stations Control and Regulation Simulator, with SCADA SCE Technical Teaching Equipment Computer Controlled Generating Stations Control and Regulation Simulator, with SCADA SCE EDIBON SCADA System Teaching Technique used 4 5 2 Data Acquisition Board Cables and

More information

5 WAYS TO EVEN GREATER EFFICIENCY

5 WAYS TO EVEN GREATER EFFICIENCY EPSON PROSIX C4 AND C8 SERIES 6 AXIS ROBOTS 5 WAYS TO EVEN GREATER EFFICIENCY ENGINEERED FOR BUSINESS 2 / 3 / THE OPTIMAL FAMILY PACKAGE DIFFERENT RANGES, VARIOUS LOAD CAPACITIES You don t want a standard

More information

ENGR 210 Lab 11 Frequency Response of Passive RC Filters

ENGR 210 Lab 11 Frequency Response of Passive RC Filters ENGR 210 Lab 11 Response of Passive RC Filters The objective of this lab is to introduce you to the frequency-dependent nature of the impedance of a capacitor and the impact of that frequency dependence

More information

Harmonic Drive acutator P r e c i s i o n G e a r i n g & M o t i o n C o n t r o l

Harmonic Drive acutator P r e c i s i o n G e a r i n g & M o t i o n C o n t r o l D C S e r v o S y s t e m s RH Mini Series Total Motion Control Harmonic Drive acutator P r e c i s i o n G e a r i n g & M o t i o n C o n t r o l Precision Gearing & Motion Control DC SERVO ACTUATORS

More information

Once you know the volume of air and the static pressure of the system to be cooled, you can determine the fan specifications for your product.

Once you know the volume of air and the static pressure of the system to be cooled, you can determine the fan specifications for your product. COOLING FAN REQUIREMENTS CALCULATIONS Determining System Impedance Determining the actual airflow produced by a fan mounted in an enclosure is much more difficult than calculating the airflow required.

More information

Adaptive feature selection for rolling bearing condition monitoring

Adaptive feature selection for rolling bearing condition monitoring Adaptive feature selection for rolling bearing condition monitoring Stefan Goreczka and Jens Strackeljan Otto-von-Guericke-Universität Magdeburg, Fakultät für Maschinenbau Institut für Mechanik, Universitätsplatz,

More information

Address for Correspondence

Address for Correspondence International Journal of Advanced Engineering Technology E-ISSN 0976-3945 Research Paper DEVELOPMENT OF LOW COST SHAKE TABLES AND INSTRUMENTATION SETUP FOR EARTHQUAKE ENGINEERING LABORATORY C. S. Sanghvi

More information

Selecting and Sizing Ball Screw Drives

Selecting and Sizing Ball Screw Drives Selecting and Sizing Ball Screw Drives Jeff G. Johnson, Product Engineer Thomson Industries, Inc. Wood Dale, IL 540-633-3549 www.thomsonlinear.com Thomson@thomsonlinear.com Fig 1: Ball screw drive is a

More information

SERIES-PARALLEL DC CIRCUITS

SERIES-PARALLEL DC CIRCUITS Name: Date: Course and Section: Instructor: EXPERIMENT 1 SERIES-PARALLEL DC CIRCUITS OBJECTIVES 1. Test the theoretical analysis of series-parallel networks through direct measurements. 2. Improve skills

More information

STUDY OF DAM-RESERVOIR DYNAMIC INTERACTION USING VIBRATION TESTS ON A PHYSICAL MODEL

STUDY OF DAM-RESERVOIR DYNAMIC INTERACTION USING VIBRATION TESTS ON A PHYSICAL MODEL STUDY OF DAM-RESERVOIR DYNAMIC INTERACTION USING VIBRATION TESTS ON A PHYSICAL MODEL Paulo Mendes, Instituto Superior de Engenharia de Lisboa, Portugal Sérgio Oliveira, Laboratório Nacional de Engenharia

More information

DAKTON µ BOX MANUAL µbox User Manual 1

DAKTON µ BOX MANUAL µbox User Manual 1 µbo User Manual 1 DAKTON µ BO: compact data logger and sensor µ BO is a sensor and a data logger together. It records data processed by DAKTON DASHBOARD with the addition of lateral and longitudinal accelerations.

More information

Manufacturing Equipment Modeling

Manufacturing Equipment Modeling QUESTION 1 For a linear axis actuated by an electric motor complete the following: a. Derive a differential equation for the linear axis velocity assuming viscous friction acts on the DC motor shaft, leadscrew,

More information

10. CNC Hardware Basics

10. CNC Hardware Basics CAD/CAM Principles and Applications 10 CNC Hardware Basics 10-1/10-20 by P.N.Rao 10. CNC Hardware Basics 10.1 Structure of CNC machine tools Table 10.1 Some design criteria for CNC machine tool design

More information

What Is an Electric Motor? How Does a Rotation Sensor Work?

What Is an Electric Motor? How Does a Rotation Sensor Work? What Is an Electric Motor? How Does a Rotation Sensor Work? Electric Motors Pre-Quiz 1. What is an electric motor? 2. Name two applications (things) you use every day that use electric motors. 3. How does

More information

INSTRUCTOR WORKBOOK Quanser Robotics Package for Education for MATLAB /Simulink Users

INSTRUCTOR WORKBOOK Quanser Robotics Package for Education for MATLAB /Simulink Users INSTRUCTOR WORKBOOK for MATLAB /Simulink Users Developed by: Amir Haddadi, Ph.D., Quanser Peter Martin, M.A.SC., Quanser Quanser educational solutions are powered by: CAPTIVATE. MOTIVATE. GRADUATE. PREFACE

More information

Measuring Temperature withthermistors a Tutorial David Potter

Measuring Temperature withthermistors a Tutorial David Potter NATIONAL INSTRUMENTS The Software is the Instrument Application Note 065 Measuring Temperature withthermistors a Tutorial David Potter Introduction Thermistors are thermally sensitive resistors used in

More information

ServoOne. Specification. Option 2 - Technology. x 11. x 8 X 8. x 10. x 9. x 7. x 6 TTL Encoder / TTL Encoder simulation

ServoOne. Specification. Option 2 - Technology. x 11. x 8 X 8. x 10. x 9. x 7. x 6 TTL Encoder / TTL Encoder simulation x - + - + x L L L AC SO 4-45 A DC SO 4- A ServoOne Specification x 9 - + - + x 7 x 8 X 8 Option - Technology x 6 TTL Encoder / TTL Encoder simulation Specification ServoOne Specification Option - Technology

More information

Fundamentals of Signature Analysis

Fundamentals of Signature Analysis Fundamentals of Signature Analysis An In-depth Overview of Power-off Testing Using Analog Signature Analysis www.huntron.com 1 www.huntron.com 2 Table of Contents SECTION 1. INTRODUCTION... 7 PURPOSE...

More information

Robot Sensors. Outline. The Robot Structure. Robots and Sensors. Henrik I Christensen

Robot Sensors. Outline. The Robot Structure. Robots and Sensors. Henrik I Christensen Robot Sensors Henrik I Christensen Robotics & Intelligent Machines @ GT Georgia Institute of Technology, Atlanta, GA 30332-0760 hic@cc.gatech.edu Henrik I Christensen (RIM@GT) Sensors 1 / 38 Outline 1

More information

CHAPTER 5 PREDICTIVE MODELING STUDIES TO DETERMINE THE CONVEYING VELOCITY OF PARTS ON VIBRATORY FEEDER

CHAPTER 5 PREDICTIVE MODELING STUDIES TO DETERMINE THE CONVEYING VELOCITY OF PARTS ON VIBRATORY FEEDER 93 CHAPTER 5 PREDICTIVE MODELING STUDIES TO DETERMINE THE CONVEYING VELOCITY OF PARTS ON VIBRATORY FEEDER 5.1 INTRODUCTION The development of an active trap based feeder for handling brakeliners was discussed

More information

AP Physics 1 and 2 Lab Investigations

AP Physics 1 and 2 Lab Investigations AP Physics 1 and 2 Lab Investigations Student Guide to Data Analysis New York, NY. College Board, Advanced Placement, Advanced Placement Program, AP, AP Central, and the acorn logo are registered trademarks

More information

Design of a Universal Robot End-effector for Straight-line Pick-up Motion

Design of a Universal Robot End-effector for Straight-line Pick-up Motion Session Design of a Universal Robot End-effector for Straight-line Pick-up Motion Gene Y. Liao Gregory J. Koshurba Wayne State University Abstract This paper describes a capstone design project in developing

More information

Digital Single Axis Controller

Digital Single Axis Controller Digital Single Axis Controller The concept of intelligent hydraulic drive a vision? DSAC (Digital Single Axis Controller) Do you need hydraulic servo drive for your machine/system? What would it be like

More information

Tilt switches N3 / N4... MEMS technology, one or two axis. Use. Options. + long lifetime and highly reliability due to mechanism-free MEMS technology

Tilt switches N3 / N4... MEMS technology, one or two axis. Use. Options. + long lifetime and highly reliability due to mechanism-free MEMS technology Tilt switches MEMS technology, one or two axis N3 / N4... + long lifetime and highly reliability due to mechanism-free MEMS technology + combinable output signals + one or two axis measurement + tilt range

More information

Introduction to Data Acquisition

Introduction to Data Acquisition Introduction to Data Acquisition Overview This tutorial is part of the National Instruments Measurement Fundamentals series. Each tutorial in this series, will teach you a specific topic of common measurement

More information

Email: tjohn@mail.nplindia.ernet.in

Email: tjohn@mail.nplindia.ernet.in USE OF VIRTUAL INSTRUMENTS IN RADIO AND ATMOSPHERIC EXPERIMENTS P.N. VIJAYAKUMAR, THOMAS JOHN AND S.C. GARG RADIO AND ATMOSPHERIC SCIENCE DIVISION, NATIONAL PHYSICAL LABORATORY, NEW DELHI 110012, INDIA

More information

The VibraScout 3D TM & 6D TM

The VibraScout 3D TM & 6D TM The VibraScout 3D TM & 6D TM VIBRATION MEASUREMENT SYSTEMS Dytran is Registered & Accredited to: ISO 9001:2008 and AS9100C & ISO/IEC 17025:2005 & ANSI/NCSL Z540-1-1994 Ready for Action: VibraScout 3D TM

More information

Convention Paper Presented at the 112th Convention 2002 May 10 13 Munich, Germany

Convention Paper Presented at the 112th Convention 2002 May 10 13 Munich, Germany Audio Engineering Society Convention Paper Presented at the 112th Convention 2002 May 10 13 Munich, Germany This convention paper has been reproduced from the author's advance manuscript, without editing,

More information

Accurate Measurement of the Mains Electricity Frequency

Accurate Measurement of the Mains Electricity Frequency Accurate Measurement of the Mains Electricity Frequency Dogan Ibrahim Near East University, Faculty of Engineering, Lefkosa, TRNC dogan@neu.edu.tr Abstract The frequency of the mains electricity supply

More information

Logging of RF Power Measurements

Logging of RF Power Measurements Logging of RF Power Measurements By Orwill Hawkins Logging of measurement data is critical for effective trend, drift and Exploring the use of RF event analysis of various processes. For RF power measurements,

More information

Centripetal Force. This result is independent of the size of r. A full circle has 2π rad, and 360 deg = 2π rad.

Centripetal Force. This result is independent of the size of r. A full circle has 2π rad, and 360 deg = 2π rad. Centripetal Force 1 Introduction In classical mechanics, the dynamics of a point particle are described by Newton s 2nd law, F = m a, where F is the net force, m is the mass, and a is the acceleration.

More information

Electrical Resonance

Electrical Resonance Electrical Resonance (R-L-C series circuit) APPARATUS 1. R-L-C Circuit board 2. Signal generator 3. Oscilloscope Tektronix TDS1002 with two sets of leads (see Introduction to the Oscilloscope ) INTRODUCTION

More information

Oscilloscope, Function Generator, and Voltage Division

Oscilloscope, Function Generator, and Voltage Division 1. Introduction Oscilloscope, Function Generator, and Voltage Division In this lab the student will learn to use the oscilloscope and function generator. The student will also verify the concept of voltage

More information

Blackbody Radiation References INTRODUCTION

Blackbody Radiation References INTRODUCTION Blackbody Radiation References 1) R.A. Serway, R.J. Beichner: Physics for Scientists and Engineers with Modern Physics, 5 th Edition, Vol. 2, Ch.40, Saunders College Publishing (A Division of Harcourt

More information

Technical Information

Technical Information Technical Information TI No. WL 80-63 E April 2001 Rolling Bearing Diagnosis with the FAG Bearing Analyser Rolling Bearings State-Of-The-Art, Condition-Related Monitoring of Plants and Machines Unforeseen

More information

Accuracy and Tuning in CNC Machine Tools

Accuracy and Tuning in CNC Machine Tools FAMA Technical Article/001 Accuracy and Tuning in CNC Machine Tools Introduction: This article explains how it is possible to achieve a better performance on High Speed CNC Machine Tools. Performance is

More information

Robot coined by Karel Capek in a 1921 science-fiction Czech play

Robot coined by Karel Capek in a 1921 science-fiction Czech play Robotics Robot coined by Karel Capek in a 1921 science-fiction Czech play Definition: A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices

More information

Computer Aided Design of Home Medical Alert System

Computer Aided Design of Home Medical Alert System Computer Aided Design of Home Medical Alert System Submitted to The Engineering Honors Committee 119 Hitchcock Hall College of Engineering The Ohio State University Columbus, Ohio 43210 By Pei Chen Kan

More information

Design Aspects of Robot Manipulators

Design Aspects of Robot Manipulators Design Aspects of Robot Manipulators Dr. Rohan Munasinghe Dept of Electronic and Telecommunication Engineering University of Moratuwa System elements Manipulator (+ proprioceptive sensors) End-effector

More information

User's Guide. Pen Vibration Meter. Model VB400

User's Guide. Pen Vibration Meter. Model VB400 User's Guide Pen Vibration Meter Model VB400 Introduction Congratulations on your purchase of the Extech VB400 Meter. The VB400 is designed to provide easy and accurate velocity and acceleration measurements

More information

The accelerometer designed and realized so far is intended for an. aerospace application. Detailed testing and analysis needs to be

The accelerometer designed and realized so far is intended for an. aerospace application. Detailed testing and analysis needs to be 86 Chapter 4 Accelerometer Testing 4.1 Introduction The accelerometer designed and realized so far is intended for an aerospace application. Detailed testing and analysis needs to be conducted to qualify

More information

LEGO NXT-based Robotic Arm

LEGO NXT-based Robotic Arm Óbuda University e Bulletin Vol. 2, No. 1, 2011 LEGO NXT-based Robotic Arm Ákos Hámori, János Lengyel, Barna Reskó Óbuda University barna.resko@arek.uni-obuda.hu, hamoriakos@gmail.com, polish1987@gmail.com

More information

MULTIDISCIPLINARY EXERCISES: COORDINATION PRACTICES AND APPLICATIONS FROM FUNDAMENTAL TO APPLIED SUBJECTS IN AGRICULTURE ENGINEERING

MULTIDISCIPLINARY EXERCISES: COORDINATION PRACTICES AND APPLICATIONS FROM FUNDAMENTAL TO APPLIED SUBJECTS IN AGRICULTURE ENGINEERING MULTIDISCIPLINARY EXERCISES: COORDINATION PRACTICES AND APPLICATIONS FROM FUNDAMENTAL TO APPLIED SUBJECTS IN AGRICULTURE ENGINEERING B. Diezma, M.C. Morató, P. Barreiro, B. Recio, V. Méndez-Fuentes, E.

More information

ADVANCES IN AUTOMATIC OPTICAL INSPECTION: GRAY SCALE CORRELATION vs. VECTORAL IMAGING

ADVANCES IN AUTOMATIC OPTICAL INSPECTION: GRAY SCALE CORRELATION vs. VECTORAL IMAGING ADVANCES IN AUTOMATIC OPTICAL INSPECTION: GRAY SCALE CORRELATION vs. VECTORAL IMAGING Vectoral Imaging, SPC & Closed Loop Communication: The Zero Defect SMD Assembly Line Mark J. Norris Vision Inspection

More information

Visual Servoing Methodology for Selective Tree Pruning by Human-Robot Collaborative System

Visual Servoing Methodology for Selective Tree Pruning by Human-Robot Collaborative System Ref: C0287 Visual Servoing Methodology for Selective Tree Pruning by Human-Robot Collaborative System Avital Bechar, Victor Bloch, Roee Finkelshtain, Sivan Levi, Aharon Hoffman, Haim Egozi and Ze ev Schmilovitch,

More information

SPINDLE ERROR MOVEMENTS MEASUREMENT ALGORITHM AND A NEW METHOD OF RESULTS ANALYSIS 1. INTRODUCTION

SPINDLE ERROR MOVEMENTS MEASUREMENT ALGORITHM AND A NEW METHOD OF RESULTS ANALYSIS 1. INTRODUCTION Journal of Machine Engineering, Vol. 15, No.1, 2015 machine tool accuracy, metrology, spindle error motions Krzysztof JEMIELNIAK 1* Jaroslaw CHRZANOWSKI 1 SPINDLE ERROR MOVEMENTS MEASUREMENT ALGORITHM

More information

Basics of Structural Vibration Testing and Analysis

Basics of Structural Vibration Testing and Analysis APPLICATION NOTE AN011 Basics of Structural Vibration Testing and Analysis Introduction Structural vibration testing and analysis contributes to progress in many industries, including aerospace, auto-making,

More information

The Calculation of G rms

The Calculation of G rms The Calculation of G rms QualMark Corp. Neill Doertenbach The metric of G rms is typically used to specify and compare the energy in repetitive shock vibration systems. However, the method of arriving

More information

CHAPTER 3 MODAL ANALYSIS OF A PRINTED CIRCUIT BOARD

CHAPTER 3 MODAL ANALYSIS OF A PRINTED CIRCUIT BOARD 45 CHAPTER 3 MODAL ANALYSIS OF A PRINTED CIRCUIT BOARD 3.1 INTRODUCTION This chapter describes the methodology for performing the modal analysis of a printed circuit board used in a hand held electronic

More information

EE 402 RECITATION #13 REPORT

EE 402 RECITATION #13 REPORT MIDDLE EAST TECHNICAL UNIVERSITY EE 402 RECITATION #13 REPORT LEAD-LAG COMPENSATOR DESIGN F. Kağan İPEK Utku KIRAN Ç. Berkan Şahin 5/16/2013 Contents INTRODUCTION... 3 MODELLING... 3 OBTAINING PTF of OPEN

More information

Vibrational Analysis of Guitar Bodies

Vibrational Analysis of Guitar Bodies Vibrational Analysis of Guitar Bodies Eric W. Moon Department of Physics, University of Illinois at Urbana-Champaign ABSTRACT Understanding how a guitar vibrates could aid manufacturers in shaping the

More information

An inertial haptic interface for robotic applications

An inertial haptic interface for robotic applications An inertial haptic interface for robotic applications Students: Andrea Cirillo Pasquale Cirillo Advisor: Ing. Salvatore Pirozzi Altera Innovate Italy Design Contest 2012 Objective Build a Low Cost Interface

More information

THRUST CURVE LOGGER V-4.200

THRUST CURVE LOGGER V-4.200 THRUST CURVE LOGGER V-4.200 There are several items that must be addressed prior to actual firing of the motor for data acquisition. These will be required in the Propellant Characterization process: Weigh

More information