Description

TASK 1: Modelling of a Link in SimMechanics

Block Diagram:

Deliverables:

1. Following is the image of the SimMechanics explorer window showing the developed link and all the coordinate frames.

TASK 2: Modelling of a Mechanism in SimMechanics

Block Diagram:

Deliverables:

1. Following is the image of the SimMechanics explorer window showing the developed link with the pivot block connected with a revolute joint and all the coordinate frames.

TASK 3: Analysis of the Dynamic Response of the Model

3.1: Undamped Revolute Joint

Block Diagram:

Deliverables:

1. Following is the plot of joint angle (rad) and joint velocity (rad/s) w.r.t. time (s) for undamped revolute joint

2. Following is the plot of joint angle (rad) vs. joint velocity (rad/s) for undamped revolute joint

3.2: Damped Revolute Joint

Block Diagram:

Deliverables:

1. Following is the plot of joint angle (rad) and joint velocity (rad/s) w.r.t. time (s) for damped revolute joint

2. Following is the plot of joint angle (rad) vs. joint velocity (rad/s) for damped revolute joint

3.3: Driven Revolute Joint

Block Diagram:

Deliverables:

1. Following is the plot of joint angle (rad) and joint velocity (rad/s) w.r.t. time (s) for driven revolute joint

2. Following is the plot of joint angle (rad) vs. joint velocity (rad/s) for driven revolute joint

TASK 4: Actuation to Mechanism

Block Diagram:

PWM Specifications:
• Voltage Range: 0-5 V (0-100% Duty Cycle)
• Switching Frequency: 1000 Hz

H-Bridge Specifications:
• Enable Threshold Voltage: 2.5 V
• PWM Signal Amplitude: 5 V
• Reverse Threshold Voltage: 2.5V
• Braking Threshold Voltage: 2.5V
• Output Voltage Amplitude: 12 V
• Total Bridge Resistance: 0.1 Ohm
• Freewheeling Diode Resistance: 0.05 Ohm

Control Voltage Specifications:
• Speed Control Voltage: 0-5 V DC
• Direction Control Voltage: 5 V AC (0.05 Hz)

Motor Specifications:
• Motor 1:
o Armature Resistance: 0.5 Ohm o Armature Inductance: 0.002 H o Torque Constant: 0.05 N*m/A o Rotor Inertia: 9e-5 kg*m^2 o Rotor Damping: 0 N*m/(rad/s) o Initial Rotor Speed: 0 rpm

• Motor 2:
o Armature Resistance: 0.2 Ohm o Armature Inductance: 0.005 H o Torque Constant: 0.1 N*m/A o Rotor Inertia: 5e-4 kg*m^2 o Rotor Damping: 0 N*m/(rad/s) o Initial Rotor Speed: 0 rpm

Deliverables:

1. Following are the plots of joint velocity (rad/s) w.r.t. time (s) for 2 different motor specifications and 2 different PWM duty cycles

Motor 1 – 50% Duty Cycle Motor 1 – 100% Duty Cycle

Motor 2 – 50% Duty Cycle Motor 2 – 100% Duty Cycle