Simulation Project Proposal 5d645a

Simulation Project Proposal 2DOF Armature Simulation with Torque Analysis Introduction In all disciplines of engineering, be it mechanical, civil, electrical, or any other, there is a series of steps to be performed in order to successfully complete a design process of any true significance. Before an engineer may begin to build form a design, they must first research, mathematically model, and simulate all relevant components in question to ensure that the design is feasible. It begins with the derivation of the equations of motion that govern a design’s physics, leading into constraints set by both the designer and the environment that the design is to function in, and eventually progressing to computational analysis with respect to time. This project proposal aims to construct and run a simulation of a simple 2 DOF system, consisting of a two-link armature, operated by motors at the ts and analyzing the required torques for various kind of movement and general operation. The application of this simulation would be beneficial in any area that deals with the movement of an in-plane robotic arm. This would be highly useful in the robotics and medical industries, where knowledge and optimization of armature movements is crucial. Problem Statement Our group proposes to simulate a 2 DOF system consisting of a two-link armature with motors located at the ts. The main purpose of the simulation is to understand the statics, dynamics, and necessary control required for a robotic arm. This knowledge and understanding will be integral to the design of future robotic systems in the robotics industry. Simulation Technique In order to fully understand this design we foresee the need for a minimum of two general simulations. The first simulation would be of the robotic arm when the end effector is not holding any additional mass, nor is subject to any external moment. This would be used as a reference for the second simulation. The second simulation would include an additional mass, and moment, attached to the end effector and further serve our understanding of the control aspect relating the angles of the arm linkages to the required motor torques. Utilizing MATLAB and Simulink/Simscape, it will be possible to create a mathematical model to represent the armature system and allow us to examine different motor configurations and end effector conditions. From these programs we will further understand the mathematics, torques, and trajectory generation required to properly control the robotic arm. Conclusion Upon the completion of this simulation project, our group will obtain comprehensive knowledge on the relations between the torques of motors and relative positions of arm links in the 2 DOF system of an in-place robotic arm. The end result will pave the way for more complex, intricate, and relevant simulations which can be applied to more complex linkage systems, along with the creation and implementation of more efficient control structures.