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Lecture 06 Mechanical Actuation System

Actuation System - Mechatronics

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25 views28 pages

Lecture 06 Mechanical Actuation System

Actuation System - Mechatronics

Uploaded by

topeqpidot
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Mechanical Actuation System

Lecture 6
(Chapter 8)
Introduction
• Mechanisms are devices which can be considered
to be motion converters
• Transform motion from one form to another
• 3 common motion transmission mechanism:
1. Rotary-to-rotary motion transmission mechanism
– gears, belt and pulley
2. Rotary-to-translational motion transmission
mechanism – lead-screw, rack-pinion, belt-pulley
3. Cyclic motion transmission mechanism – linkages
and cams
SME 3252: Mechatronics
Lecture 6
8.2: Types of motion
• Motion of rigid bodies – combination of
translational and rotational
• Kinematics of rigid bodies (Dynamics
SME1213)
• Translational motion – one or more of 3
axes
• Rotational motion – one or more of 3 axes

SME 3252: Mechatronics


Lecture 6
y

SME 3252: Mechatronics


Lecture 6
Exercise
• Analyse the motion of the following
mechanisms and state whether they are
pure translation, pure rotation or a mixed
of translation and rotation:
1. The keys on a computer keyboard
2. The pen in an XY plotter
3. The hour hand of a clock
4. The pointer on a moving coil ammeter
5. An automatic screwdriver
SME 3252: Mechatronics
Lecture 6
SME 3252: Mechatronics
Lecture 6
6.2.1: Freedom and constraints
• No. of degree of freedom – no. of
components to motion that are required to
generate motion
• Problem in design – reduce d.o.f requires
orientation constrains

SME 3252: Mechatronics


Lecture 6
How any dof?

SME 3252: Mechatronics


Lecture 6
How any dof?

Samsul Tongaji, PSM 2006/2007

SME 3252: Mechatronics


Lecture 6
Exercises
• By examining the following mechanisms,
state the number of degree of freedom
each has:
1. A car hood hinge mechanism
2. A windscreen wiper mechanism
3. Your knee
4. Your ankle

SME 3252: Mechatronics


Lecture 6
8.2.2: Loading
• Mechanisms are structures and transmit
and support loads
• Analysis – determine loads to be carried
by individual elements

SME 3252: Mechatronics


Lecture 6
From static friction theory,
Fv = fv and Fv = μN
Fv = μ(mg)
Where;
Fv = Force min for actuation, N
μ = Static friction coefficient, 0.3
m = Robot weight imposed on each leg, kg
g = Gravity, 9.81m/s2

0.08m From total weight, M;


Torque M = Body weight + battery weight + servo motor weight + leg weight +
others
0.125kg
M = 1 kg + 0.5 kg + 0.055 kg (8 motors) + 0.1 kg (4 legs) + 0.5 kg =
2.84 kg
Required Friction force, m = M/4 = 0.947kg
force, Fv fv
Thus, F = 0.3 x 0.947kg x 9.81 m/s2 = 2.786N
The minimum required torque, T = n(Fv .r)
Where;
n = Safety factor, 1.5
r = Turning radius, 0.08
Thus, T = 1.5 × 2.786N × 0.08m = 0.3343 Nm
From the calculation, the minimum required torque to perform the vertical
leg movement is 0.3343Nm.
By:
SME 3252: Mechatronics
Lim Kim Fung, PSM 2006/2007
Lecture 6
Rotary-to-rotary motion
transmission mechanism
• Examples are:
1. Gears
2. Belt
3. Pulley

SME 3252: Mechatronics


Lecture 6
SME 3252: Mechatronics
Lecture 6
Gear System
• Observed variables: torque τ, acceleration
α, velocity ω and displacement θ for input
and output gear
• System parameters: number of teeth or
radius which gives gear ratio:
•
ra N a
n= =
rb N b

SME 3252: Mechatronics


Lecture 6
• No slipping occurs: raθa = rbθb
• Differentiate with respect to time:ra dθ a rb dθ b
=
dt dt
• Or ra ω a = rb ω b

• In gear ratio: θ b ω b ra N a
= = = =n
θ a ω a rb N b

• Force acting on both teeth: F=


τa
=
τb
ra rb

• Therefore: τ b = 1 τ a
n
SME 3252: Mechatronics
Lecture 6
8.5: Gear trains
• Gear trains – a series of intermeshed gear
wheels
• A compound gear train where the two
central gears revolve together at the same
speed on the same shaft

SME 3252: Mechatronics


Lecture 6
Gear types – bevel, spur, worm,
helical

SME 3252: Mechatronics


Lecture 6
6.6: Ratchet and paw
• The ratchet is the toothed wheel, the pawl
is the arm that locks it in position
• The purpose - to limit rotation to one
direction only
• It is often used as a safety device to
prevent reverse running of a winch or as
part of the wrench in a socket set

SME 3252: Mechatronics


Lecture 6
SME 3252: Mechatronics
Lecture 6
6.7: Belt and chain drives
• A typical Vee belt drive system is shown below
• In this eg. the driver pulley is larger, the driven
pulley will run much faster.
• Driver / Driven = Speed of Driven / Speed of
Driver

SME 3252: Mechatronics


Lecture 6
6.7.1: Types of belts

SME 3252: Mechatronics


www.co-design.co.uk/dpg/bel/bel8.gif
Lecture 6
SME 3252: Mechatronics
www.co-design.co.uk/dpg/bel/bel8.gif
Lecture 6
6.7.2: Chains
• Use of chain – to prevent slip, lock into teeth on
rotating cylinders
• Component of chain drives.
• Eg of chain drive - bicycle

SME 3252: Mechatronics


Lecture 6
Sprocket and chain

SME 3252: Mechatronics


Lecture 6
Robot power chair http://www.fatnfast.com/robot/

The objective was/is to evaluate:


• The practicalities of 4x4 steering

SME 3252: Mechatronics


Lecture 6
SME 3252: Mechatronics
Lecture 6
End of Lecture 6

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