Assignment 1: System Modeling


 Kelly Collins
 1 years ago
 Views:
Transcription
1 Assignment 1: System Modeling Problem 1. (10 pts.) Consider a biological control system consisting of a human reaching for an object. Below is a list of general block diagram elements (on the left, labeled ag) and elements for this specific example (on the right). General block diagram elements Elements for the humanreaching example (in order) a. process arm dynamics b. disturbance gravity c. actuator muscles d. sensor eyes and proprioceptors* e. controller brain f. reference signal object position g. output signal hand position *Definition of proprioceptors: sensors that provide information about joint angle, muscle length, and muscle tension, which are integrated to give information about the position of the limb in space. First, match each general block diagram element to the correct element for the humanreaching example. Second, draw the feedback control block diagram (similar to the examples from Lecture 1) for human reaching. It must contain all of the elements listed on the right above, each labeled with the letter corresponding to its general function in the block diagram (i.e., the matches that you made for the first part of the problem). Also, label the (h) error signal, (i) control signal, and (j) plant. Note: 0.5 points for each of 10 lettered items identified (a through j) for a total of 5 points, and 5 points for correct block diagram.
2 Problem 2. (10 pts.) Consider a system of learning that involves three blocks: a teacher, students, and examinations (which are used to measure the learning of the students). Draw a feedback control block diagram for this system. Identify and label on the block diagram possible elements (specific to this system) that could represent each of the following general block diagram elements: a. process students b. disturbance videos games (many examples here J ) c. sensor examinations d. controller teacher (in an ideal world!) e. reference signal desired knowledge (described in terms of an ideal exam score) f. control signal lectures or other means of communicating information to students g. output signal knowledge Note: 1 point for a reasonable choice for each element (total of 7), and 3 points for correct block diagram structure.
3 Problem 3. (10 pts.) The mass m in the figure below is attached to a rigid lever having negligible mass and negligible friction in the pivot at point O. The system s input is linear displacement x. When x and θ are zero, the springs are at their free length (i.e., they exert no force). Assume that both springs stay horizontal at all times. Neglect gravity. a. Derive the equation of motion for this system, with θ as the dependent variable and x as the input. (7 pts.)
4 b. Find the linearized equation of motion (i.e., assuming that θ is small). (1 pt.) c. What is the order of this differential equation? (1 pt.) Second order, since the dependent variable has a highest derivative of 2. d. The natural frequency of a system of this type is the square root of the equivalent stiffness divided by the equivalent mass. What is the natural frequency of the linearized system? (1 pt.)
5 Problem 4. (10 pts.) a. Assume R, C, L and v!" are all known. Find a single differential equation in terms of v!, with no other unknowns. (The labeled loops and node are hints!) (8 pts.) L + _ v L i L a v o v in _ + v R_ + R C 1 2 i R i C b. Find the Laplace transform of the differential equation (assume zero initial conditions) and compute the transfer function V! (s)/v!" (s). (2 pts.) Problem 5. (10 pts.) Consider the onedegreeoffreedom robot arm shown below. It has inertia J and
6 torsional damping b. A motor (whose dynamics you can ignore) applies a torque τ at the center of rotation. The angle of the arm is given by θ. Neglect gravity. a. Develop the equation of motion for this plant. (3 pts.) b. Is the system described by a firstorder or secondorder differential equation? (1 pts.) Second order if you consider the dependent variable θ, first order if you considered ω = θ. c. Take the Laplace Transform of the equation of motion. Call the transformed angle Θ(s) and the transformed torque Τ(s). Include initial conditions. (4 pts.) d. Assume zero initial conditions, then obtain the transfer function from torque input to angle output, which is Θ(s)/Τ(s). (2 pts.)
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 informationModeling Mechanical Systems
chp3 1 Modeling Mechanical Systems Dr. Nhut Ho ME584 chp3 2 Agenda Idealized Modeling Elements Modeling Method and Examples Lagrange s Equation Case study: Feasibility Study of a Mobile Robot Design Matlab
More informationChapter 24 Physical Pendulum
Chapter 4 Physical Pendulum 4.1 Introduction... 1 4.1.1 Simple Pendulum: Torque Approach... 1 4. Physical Pendulum... 4.3 Worked Examples... 4 Example 4.1 Oscillating Rod... 4 Example 4.3 Torsional Oscillator...
More informationEDUMECH 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. 9989 All Rights Reserved. 999 Shandor Motion Systems, Ball on Beam Instructional
More informationIMPORTANT NOTE ABOUT WEBASSIGN:
Week 8 homework IMPORTANT NOTE ABOUT WEBASSIGN: In the WebAssign versions of these problems, various details have been changed, so that the answers will come out differently. The method to find the solution
More informationSlide 10.1. Basic system Models
Slide 10.1 Basic system Models Objectives: Devise Models from basic building blocks of mechanical, electrical, fluid and thermal systems Recognize analogies between mechanical, electrical, fluid and thermal
More informationPhysics 1020 Laboratory #6 Equilibrium of a Rigid Body. Equilibrium of a Rigid Body
Equilibrium of a Rigid Body Contents I. Introduction II. III. IV. Finding the center of gravity of the meter stick Calibrating the force probe Investigation of the angled meter stick V. Investigation of
More informationEducational Objectives To investigate equilibrium using a lever in two activities.
Lever: Equilibrium and Torque Main Topic Subtopic Learning Level Technology Level Activity Type Forces Simple Machines High Low Student Teacher s Notes Description: Investigate torque and equilibrium in
More informationSystem Modeling and Control for Mechanical Engineers
Session 1655 System Modeling and Control for Mechanical Engineers Hugh Jack, Associate Professor Padnos School of Engineering Grand Valley State University Grand Rapids, MI email: jackh@gvsu.edu Abstract
More informationUnit  6 Vibrations of Two Degree of Freedom Systems
Unit  6 Vibrations of Two Degree of Freedom Systems Dr. T. Jagadish. Professor for Post Graduation, Department of Mechanical Engineering, Bangalore Institute of Technology, Bangalore Introduction A two
More informationPractice Exam Three Solutions
MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Physics Physics 8.01T Fall Term 2004 Practice Exam Three Solutions Problem 1a) (5 points) Collisions and Center of Mass Reference Frame In the lab frame,
More informationEquivalent Spring Stiffness
Module 7 : Free Undamped Vibration of Single Degree of Freedom Systems; Determination of Natural Frequency ; Equivalent Inertia and Stiffness; Energy Method; Phase Plane Representation. Lecture 13 : Equivalent
More information5.2 Rotational Kinematics, Moment of Inertia
5 ANGULAR MOTION 5.2 Rotational Kinematics, Moment of Inertia Name: 5.2 Rotational Kinematics, Moment of Inertia 5.2.1 Rotational Kinematics In (translational) kinematics, we started out with the position
More informationActive Vibration Isolation of an Unbalanced Machine Spindle
UCRLCONF206108 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 informationSOLID MECHANICS TUTORIAL MECHANISMS KINEMATICS  VELOCITY AND ACCELERATION DIAGRAMS
SOLID MECHANICS TUTORIAL MECHANISMS KINEMATICS  VELOCITY AND ACCELERATION DIAGRAMS This work covers elements of the syllabus for the Engineering Council exams C105 Mechanical and Structural Engineering
More information1.10 Using Figure 1.6, verify that equation (1.10) satisfies the initial velocity condition. t + ") # x (t) = A! n. t + ") # v(0) = A!
1.1 Using Figure 1.6, verify that equation (1.1) satisfies the initial velocity condition. Solution: Following the lead given in Example 1.1., write down the general expression of the velocity by differentiating
More informationResponse to Harmonic Excitation Part 2: Damped Systems
Response to Harmonic Excitation Part 2: Damped Systems Part 1 covered the response of a single degree of freedom system to harmonic excitation without considering the effects of damping. However, almost
More informationEXAMPLE 8: An Electrical System (MechanicalElectrical Analogy)
EXAMPLE 8: An Electrical System (MechanicalElectrical Analogy) A completely analogous procedure can be used to find the state equations of electrical systems (and, ultimately, electromechanical systems
More informationRotational inertia (moment of inertia)
Rotational inertia (moment of inertia) Define rotational inertia (moment of inertia) to be I = Σ m i r i 2 or r i : the perpendicular distance between m i and the given rotation axis m 1 m 2 x 1 x 2 Moment
More informationACTUATOR 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.Nagar388120, Gujarat, India 2 Parul Institute of Engineering & Technology, Limda391760,
More informationPhysics 9e/Cutnell. correlated to the. College Board AP Physics 1 Course Objectives
Physics 9e/Cutnell correlated to the College Board AP Physics 1 Course Objectives Big Idea 1: Objects and systems have properties such as mass and charge. Systems may have internal structure. Enduring
More informationChapter 10 Rotational Motion. Copyright 2009 Pearson Education, Inc.
Chapter 10 Rotational Motion Angular Quantities Units of Chapter 10 Vector Nature of Angular Quantities Constant Angular Acceleration Torque Rotational Dynamics; Torque and Rotational Inertia Solving Problems
More informationChapter 13, example problems: x (cm) 10.0
Chapter 13, example problems: (13.04) Reading Fig. 1330 (reproduced on the right): (a) Frequency f = 1/ T = 1/ (16s) = 0.0625 Hz. (since the figure shows that T/2 is 8 s.) (b) The amplitude is 10 cm.
More informationWind Turbines. Wind Turbines 2. Wind Turbines 4. Wind Turbines 3. Wind Turbines 5. Wind Turbines 6
Wind Turbines 1 Wind Turbines 2 Introductory Question Wind Turbines You and a child half your height lean out over the edge of a pool at the same angle. If you both let go simultaneously, who will tip
More informationPrecise 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 Email : renuka_mee@nitc.ac.in,
More informationElectroHydraulic Servo Valve Construction, Models and Use
ElectroHydraulic Servo Valve Construction, Models and Use From Merritt, H. E., Hydraulic Control Systems, J. Wiley, 1967. The input to an electrohydraulic (EH) servovalve is typically a current or a
More informationInverted Pendulum Experiment
Introduction Inverted Pendulum Experiment This lab experiment consists of two experimental procedures, each with sub parts. Experiment 1 is used to determine the system parameters needed to implement a
More informationMODELING FIRST AND SECOND ORDER SYSTEMS IN SIMULINK
MODELING FIRST AND SECOND ORDER SYSTEMS IN SIMULINK First and second order differential equations are commonly studied in Dynamic courses, as they occur frequently in practice. Because of this, we will
More informationOUTCOME 2 KINEMATICS AND DYNAMICS TUTORIAL 2 PLANE MECHANISMS. You should judge your progress by completing the self assessment exercises.
Unit 60: Dynamics of Machines Unit code: H/601/1411 QCF Level:4 Credit value:15 OUTCOME 2 KINEMATICS AND DYNAMICS TUTORIAL 2 PLANE MECHANISMS 2 Be able to determine the kinetic and dynamic parameters of
More informationPhysics in the Laundromat
Physics in the Laundromat Kirk T. McDonald Joseph Henry Laboratories, Princeton University, Princeton, NJ 08544 (Aug. 5, 1997) Abstract The spin cycle of a washing machine involves motion that is stabilized
More informationLab M1: The Simple Pendulum
Lab M1: The Simple Pendulum Introduction. The simple pendulum is a favorite introductory exercise because Galileo's experiments on pendulums in the early 1600s are usually regarded as the beginning of
More informationLinear Motion vs. Rotational Motion
Linear Motion vs. Rotational Motion Linear motion involves an object moving from one point to another in a straight line. Rotational motion involves an object rotating about an axis. Examples include a
More informationAP1 Oscillations. 1. Which of the following statements about a springblock oscillator in simple harmonic motion about its equilibrium point is false?
1. Which of the following statements about a springblock oscillator in simple harmonic motion about its equilibrium point is false? (A) The displacement is directly related to the acceleration. (B) The
More informationWINDER SYSTEMS GE Industrial Control Systems
WINDER SYSTEMS Systems Concepts Terminology GE Industrial Control Systems APPLICATION TECHNIQUES With a smooth metal surface material, a paper liner is sometimes wound with a coil. The paper is lightweight
More informationTIME OF COMPLETION DEPARTMENT OF NATURAL SCIENCES. PHYS 2212, Exam 2 Section 1 Version 1 April 16, 2014 Total Weight: 100 points
TIME OF COMPLETION NAME DEPARTMENT OF NATURAL SCIENCES PHYS 2212, Exam 2 Section 1 Version 1 April 16, 2014 Total Weight: 100 points 1. Check your examination for completeness prior to starting. There
More informationLecture 07: Work and Kinetic Energy. Physics 2210 Fall Semester 2014
Lecture 07: Work and Kinetic Energy Physics 2210 Fall Semester 2014 Announcements Schedule next few weeks: 9/08 Unit 3 9/10 Unit 4 9/15 Unit 5 (guest lecturer) 9/17 Unit 6 (guest lecturer) 9/22 Unit 7,
More informationAP Physics C. Oscillations/SHM Review Packet
AP Physics C Oscillations/SHM Review Packet 1. A 0.5 kg mass on a spring has a displacement as a function of time given by the equation x(t) = 0.8Cos(πt). Find the following: a. The time for one complete
More informationForce/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 informationChapter 4 Dynamics: Newton s Laws of Motion. Copyright 2009 Pearson Education, Inc.
Chapter 4 Dynamics: Newton s Laws of Motion Force Units of Chapter 4 Newton s First Law of Motion Mass Newton s Second Law of Motion Newton s Third Law of Motion Weight the Force of Gravity; and the Normal
More informationInteractive 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 informationPhysics 1A Lecture 10C
Physics 1A Lecture 10C "If you neglect to recharge a battery, it dies. And if you run full speed ahead without stopping for water, you lose momentum to finish the race. Oprah Winfrey Static Equilibrium
More informationApplications of SecondOrder Differential Equations
Applications of SecondOrder Differential Equations Secondorder linear differential equations have a variety of applications in science and engineering. In this section we explore two of them: the vibration
More informationNo Brain Too Small PHYSICS. 2 kg
MECHANICS: ANGULAR MECHANICS QUESTIONS ROTATIONAL MOTION (2014;1) Universal gravitational constant = 6.67 10 11 N m 2 kg 2 (a) The radius of the Sun is 6.96 10 8 m. The equator of the Sun rotates at a
More informationObjective: Part 1: OpenLoop System. ITI SimulationX Page 1 of 20 ITI GmbH 2003
ITI SimulationX Page 1 of 20 ITI GmbH 2003 Tutorial 2: Hydraulic Cylinder Drive Objective: In this tutorial you will create a model for a simple hydraulic cylinder drive, which is controlled by a proportional
More informationUnit 4 Practice Test: Rotational Motion
Unit 4 Practice Test: Rotational Motion Multiple Guess Identify the letter of the choice that best completes the statement or answers the question. 1. How would an angle in radians be converted to an angle
More informationSample Questions for the AP Physics 1 Exam
Sample Questions for the AP Physics 1 Exam Sample Questions for the AP Physics 1 Exam Multiplechoice Questions Note: To simplify calculations, you may use g 5 10 m/s 2 in all problems. Directions: Each
More informationω h (t) = Ae t/τ. (3) + 1 = 0 τ =.
MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Mechanical Engineering 2.004 Dynamics and Control II Fall 2007 Lecture 2 Solving the Equation of Motion Goals for today Modeling of the 2.004 La s rotational
More informationLab 7: Rotational Motion
Lab 7: Rotational Motion Equipment: DataStudio, rotary motion sensor mounted on 80 cm rod and heavy duty bench clamp (PASCO ME9472), string with loop at one end and small white bead at the other end (125
More informationPHY121 #8 Midterm I 3.06.2013
PHY11 #8 Midterm I 3.06.013 AP Physics Newton s Laws AP Exam Multiple Choice Questions #1 #4 1. When the frictionless system shown above is accelerated by an applied force of magnitude F, the tension
More informationStability Of Structures: Basic Concepts
23 Stability Of Structures: Basic Concepts ASEN 3112 Lecture 23 Slide 1 Objective This Lecture (1) presents basic concepts & terminology on structural stability (2) describes conceptual procedures for
More informationTHE NOT SO SIMPLE PENDULUM
INTRODUCTION: THE NOT SO SIMPLE PENDULUM This laboratory experiment is used to study a wide range of topics in mechanics like velocity, acceleration, forces and their components, the gravitational force,
More informationPhysics 117.3 Tutorial #1 January 14 to 25, 2013
Physics 117.3 Tutorial #1 January 14 to 25, 2013 Rm 130 Physics 8.79. The location of a person s centre of gravity can be determined using the arrangement shown in the figure. A light plank rests on two
More informationAcceleration due to Gravity
Acceleration due to Gravity 1 Object To determine the acceleration due to gravity by different methods. 2 Apparatus Balance, ball bearing, clamps, electric timers, meter stick, paper strips, precision
More informationE X P E R I M E N T 8
E X P E R I M E N T 8 Torque, Equilibrium & Center of Gravity Produced by the Physics Staff at Collin College Copyright Collin College Physics Department. All Rights Reserved. University Physics, Exp 8:
More informationVELOCITY, ACCELERATION, FORCE
VELOCITY, ACCELERATION, FORCE velocity Velocity v is a vector, with units of meters per second ( m s ). Velocity indicates the rate of change of the object s position ( r ); i.e., velocity tells you how
More informationDrivetech, Inc. Innovations in Motor Control, Drives, and Power Electronics
Drivetech, Inc. Innovations in Motor Control, Drives, and Power Electronics Dal Y. Ohm, Ph.D.  President 25492 Carrington Drive, South Riding, Virginia 20152 Ph: (703) 3272797 Fax: (703) 3272747 ohm@drivetechinc.com
More informationAP Physics C: Mechanics: Syllabus 1
AP Physics C: Mechanics: Syllabus 1 Scoring Components Page(s) SC1 The course covers instruction in kinematics. 3, 5 SC2 The course covers instruction in Newton s laws of 3 4 motion. SC3 The course covers
More informationLecture L19  Vibration, Normal Modes, Natural Frequencies, Instability
S. Widnall 16.07 Dynamics Fall 2009 Version 1.0 Lecture L19  Vibration, Normal Modes, Natural Frequencies, Instability Vibration, Instability An important class of problems in dynamics concerns the free
More informationForce on Moving Charges in a Magnetic Field
[ Assignment View ] [ Eðlisfræði 2, vor 2007 27. Magnetic Field and Magnetic Forces Assignment is due at 2:00am on Wednesday, February 28, 2007 Credit for problems submitted late will decrease to 0% after
More informationVibrations can have an adverse effect on the accuracy of the end effector of a
EGR 315 Design Project  1  Executive Summary Vibrations can have an adverse effect on the accuracy of the end effector of a multiplelink robot. The ability of the machine to move to precise points scattered
More informationCE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation. Prof. Dr. Hani Hagras
1 CE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation Prof. Dr. Hani Hagras Robot Locomotion Robots might want to move in water, in the air, on land, in space.. 2 Most of the
More informationDegree programme in Automation Engineering
Degree programme in Automation Engineering Course descriptions of the courses for exchange students, 20142015 Autumn 2014 21727630 Application Programming Students know the basis of systems application
More informationName: Partners: Period: Coaster Option: 1. In the space below, make a sketch of your roller coaster.
1. In the space below, make a sketch of your roller coaster. 2. On your sketch, label different areas of acceleration. Put a next to an area of negative acceleration, a + next to an area of positive acceleration,
More informationVéronique PERDEREAU ISIR UPMC 6 mars 2013
Véronique PERDEREAU ISIR UPMC mars 2013 Conventional methods applied to rehabilitation robotics Véronique Perdereau 2 Reference Robot force control by Bruno Siciliano & Luigi Villani Kluwer Academic Publishers
More informationMACCCS Center Review Presentation. Xinyan Deng BioRobotics Laboratory School of Mechanical Engineering Purdue University
MACCCS Center Review Presentation Xinyan Deng BioRobotics Laboratory School of Mechanical Engineering Purdue University Lab Experimental Facilities Tow tank PIV systems Wind tunnel Lab Related Work Aerodynamics
More informationAcademic Crosswalk to Common Core Standards. REC ELA.RST.1112.3 LA.12.1.6.k LA.12.3.2
Introduction to Robotics Course Description NHT Introduction to Robotics (IR) is designed to explore the current and future use of automation technology in industry and everyday use. Students will receive
More informationName. Most of the bones of the limbs (arms & legs) act as levers. These levers are powered by muscles.
Bones as Levers 1 Name Bones as Levers You may not think of your limbs as being machines, but they are. The action of a muscle pulling on a bone often works like a type of simple machine called a lever.
More informationVSDC: TorquePendulum Tutorial  Part 1 Page 1
VSDC: TorquePendulum Tutorial  Part 1 Page 1 Figure 1: Torquependulum TorquePendulum Tutorial  Part 1: This is an MSC.ADAMS tutorial that focuses on basic steps in combining a mechanical system model
More informationECE 3510 Final given: Spring 11
ECE 50 Final given: Spring This part of the exam is Closed book, Closed notes, No Calculator.. ( pts) For each of the timedomain signals shown, draw the poles of the signal's Laplace transform on the
More informationKERN COMMUNITY COLLEGE DISTRICT CERRO COSO COLLEGE PHYS C111 COURSE OUTLINE OF RECORD
KERN COMMUNITY COLLEGE DISTRICT CERRO COSO COLLEGE PHYS C111 COURSE OUTLINE OF RECORD 1. DISCIPLINE AND COURSE NUMBER: PHYS C111 2. COURSE TITLE: Mechanics 3. SHORT BANWEB TITLE: Mechanics 4. COURSE AUTHOR:
More informationMidterm Solutions. mvr = ω f (I wheel + I bullet ) = ω f 2 MR2 + mr 2 ) ω f = v R. 1 + M 2m
Midterm Solutions I) A bullet of mass m moving at horizontal velocity v strikes and sticks to the rim of a wheel a solid disc) of mass M, radius R, anchored at its center but free to rotate i) Which of
More informationEDUH 1017  SPORTS MECHANICS
4277(a) Semester 2, 2011 Page 1 of 9 THE UNIVERSITY OF SYDNEY EDUH 1017  SPORTS MECHANICS NOVEMBER 2011 Time allowed: TWO Hours Total marks: 90 MARKS INSTRUCTIONS All questions are to be answered. Use
More informationThe Effects of Wheelbase and Track on Vehicle Dynamics. Automotive vehicles move by delivering rotational forces from the engine to
The Effects of Wheelbase and Track on Vehicle Dynamics Automotive vehicles move by delivering rotational forces from the engine to wheels. The wheels push in the opposite direction of the motion of the
More informationCORRECTION OF DYNAMIC WHEEL FORCES MEASURED ON ROAD SIMULATORS
Pages 1 to 35 CORRECTION OF DYNAMIC WHEEL FORCES MEASURED ON ROAD SIMULATORS Bohdan T. Kulakowski and Zhijie Wang Pennsylvania Transportation Institute The Pennsylvania State University University Park,
More informationFigure 3.1.2 Cartesian coordinate robot
Introduction to Robotics, H. Harry Asada Chapter Robot Mechanisms A robot is a machine capable of physical motion for interacting with the environment. Physical interactions include manipulation, locomotion,
More informationDesign 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 informationTorsion Pendulum. Life swings like a pendulum backward and forward between pain and boredom. Arthur Schopenhauer
Torsion Pendulum Life swings like a pendulum backward and forward between pain and boredom. Arthur Schopenhauer 1 Introduction Oscillations show up throughout physics. From simple spring systems in mechanics
More informationParameter identification of a linear single track vehicle model
Parameter identification of a linear single track vehicle model Edouard Davin D&C 2011.004 Traineeship report Coach: dr. Ir. I.J.M. Besselink Supervisors: prof. dr. H. Nijmeijer Eindhoven University of
More informationTorque and Rotation. Physics
Torque and Rotation Physics Torque Force is the action that creates changes in linear motion. For rotational motion, the same force can cause very different results. A torque is an action that causes objects
More informationMathematical Modeling and response analysis of mechanical systems are the subjects of this chapter.
Chapter 3 Mechanical Systems Dr. A.Aziz. Bazoune 3.1 INTRODUCTION Mathematical Modeling and response analysis of mechanical systems are the subjects of this chapter. 3. MECHANICAL ELEMENTS Any mechanical
More informationG(s) = Y (s)/u(s) In this representation, the output is always the Transfer function times the input. Y (s) = G(s)U(s).
Transfer Functions The transfer function of a linear system is the ratio of the Laplace Transform of the output to the Laplace Transform of the input, i.e., Y (s)/u(s). Denoting this ratio by G(s), i.e.,
More informationRotation. Moment of inertia of a rotating body: w I = r 2 dm
Rotation Moment of inertia of a rotating body: w I = r 2 dm Usually reasonably easy to calculate when Body has symmetries Rotation axis goes through Center of mass Exams: All moment of inertia will be
More informationPhysics 2305 Lab 11: Torsion Pendulum
Name ID number Date Lab CRN Lab partner Lab instructor Physics 2305 Lab 11: Torsion Pendulum Objective 1. To demonstrate that the motion of the torsion pendulum satisfies the simple harmonic form in equation
More informationStress and Deformation Analysis. Representing Stresses on a Stress Element. Representing Stresses on a Stress Element con t
Stress and Deformation Analysis Material in this lecture was taken from chapter 3 of Representing Stresses on a Stress Element One main goals of stress analysis is to determine the point within a loadcarrying
More informationMECHANICAL PRINCIPLES OUTCOME 4 MECHANICAL POWER TRANSMISSION TUTORIAL 2 BELT DRIVES
MECHANICAL PRINCIPLES OUTCOME 4 MECHANICAL POWER TRANSMISSION TUTORIAL BELT DRIVES Simple machines: lifting devices e.g. lever systems, inclined plane, screw jack, pulley blocks, Weston differential pulley
More informationNewton s Third Law. object 1 on object 2 is equal in magnitude and opposite in direction to the force exerted by object 2 on object 1
Newton s Third Law! If two objects interact, the force exerted by object 1 on object 2 is equal in magnitude and opposite in direction to the force exerted by object 2 on object 1!! Note on notation: is
More information3600 s 1 h. 24 h 1 day. 1 day
Week 7 homework IMPORTANT NOTE ABOUT WEBASSIGN: In the WebAssign versions of these problems, various details have been changed, so that the answers will come out differently. The method to find the solution
More informationAP Physics Circular Motion Practice Test B,B,B,A,D,D,C,B,D,B,E,E,E, 14. 6.6m/s, 0.4 N, 1.5 m, 6.3m/s, 15. 12.9 m/s, 22.9 m/s
AP Physics Circular Motion Practice Test B,B,B,A,D,D,C,B,D,B,E,E,E, 14. 6.6m/s, 0.4 N, 1.5 m, 6.3m/s, 15. 12.9 m/s, 22.9 m/s Answer the multiple choice questions (2 Points Each) on this sheet with capital
More informationDesign and Implementation of a 4Bar linkage Gripper
IOSR Journal of Mechanical and Civil Engineering (IOSRJMCE) eissn: 22781684,pISSN: 2320334X, Volume 11, Issue 5 Ver. IV (Sep Oct. 2014), PP 6166 Design and Implementation of a 4Bar linkage Gripper
More informationPLC Line. USER S MANUAL Catalog No Rev. E
PLC Line USER S MANUAL Catalog No. 100125 Rev. E May 2015 Copyright 2015 Intelitek Inc. PLC Line User s Manual Catalog No. 100125 Rev. E May 2015 Every effort has been made to make this technical note
More informationLab 8: Ballistic Pendulum
Lab 8: Ballistic Pendulum Equipment: Ballistic pendulum apparatus, 2 meter ruler, 30 cm ruler, blank paper, carbon paper, masking tape, scale. Caution In this experiment a steel ball is projected horizontally
More informationThis week s homework. 2 parts Quiz on Friday, Ch. 4 Today s class: Newton s third law Friction Pulleys tension. PHYS 2: Chap.
This week s homework. 2 parts Quiz on Friday, Ch. 4 Today s class: Newton s third law Friction Pulleys tension PHYS 2: Chap. 19, Pg 2 1 New Topic Phys 1021 Ch 7, p 3 A 2.0 kg wood box slides down a vertical
More informationPower Electronics. Prof. K. Gopakumar. Centre for Electronics Design and Technology. Indian Institute of Science, Bangalore.
Power Electronics Prof. K. Gopakumar Centre for Electronics Design and Technology Indian Institute of Science, Bangalore Lecture  1 Electric Drive Today, we will start with the topic on industrial drive
More informationChapter 18 Static Equilibrium
Chapter 8 Static Equilibrium 8. Introduction Static Equilibrium... 8. Lever Law... Example 8. Lever Law... 4 8.3 Generalized Lever Law... 5 8.4 Worked Examples... 7 Example 8. Suspended Rod... 7 Example
More informationNewton s Laws of Motion
Section 3.2 Newton s Laws of Motion Objectives Analyze relationships between forces and motion Calculate the effects of forces on objects Identify force pairs between objects New Vocabulary Newton s first
More informationTORQUE AND FIRSTCLASS LEVERS
TORQUE AND FIRSTCLASS LEVERS LAB MECH 28.COMP From Physics, Eugene Hecht and Physical Science with Computers, Vernier Software & Technology INTRODUCTION In Figure 1, note force F acting on a wrench along
More informationIdeal Cable. Linear Spring  1. Cables, Springs and Pulleys
Cables, Springs and Pulleys ME 202 Ideal Cable Neglect weight (massless) Neglect bending stiffness Force parallel to cable Force only tensile (cable taut) Neglect stretching (inextensible) 1 2 Sketch a
More informationEXPERIMENT: MOMENT OF INERTIA
OBJECTIVES EXPERIMENT: MOMENT OF INERTIA to familiarize yourself with the concept of moment of inertia, I, which plays the same role in the description of the rotation of a rigid body as mass plays in
More information10. CNC Hardware Basics
CAD/CAM Principles and Applications 10 CNC Hardware Basics 101/1020 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 informationME 3012 Systems Analysis & Control and Vibrational Responses. Learning Outcomes. Dr. Bob Williams
Learning Outcomes Dr. Bob Williams The objectives of this course are to introduce the student to the modeling, simulation, and classical control of singleinputsingleoutput linear timeinvariant systems.
More information