2R Robotic Arm Challenge (Using Python)

import numpy as np from scipy.integrate import odeint import matplotlib.pyplot as plt import math # function that returns dz/dt def model(theta,t,b,g,l,m): theta1 = theta[0] theta2 = theta[1] dtheta1_dt = theta2 dtheta2_dt = -(b/m)*theta2 - (g/l)*math.sin(theta1) dtheta_dt = [dtheta1_dt, dtheta2_dt] return dtheta_dt b…

Objective: To plot the P-V graph of an Otto cycle and calculate its thermal efficiency using Python. Assumptions The temperature at state 3, i.e., after heat is added to the cycle at constant volume, is given as an input as it is assumed to be known initially. All air standard cycle assumptions are valid throughout the…

Aim: To simulate the forward kinematics of a 2R Robotic Arm Manipulator and make a video using Python. Process involved Step 1: The lengths of the links were given as inputs, along with the angular orientations of the links. The start and end points of each link were provided taking the global coordinate system to…

Objective: To calculate the drag force acting on a cyclist and plot the results of velocity and drag force, and also drag coefficient and drag force.  Assumptions In both cases, it is assumed that the frontal area of all the bodies taken into consideration is constant. Furthermore, it is also assumed that the array…

Objective: To obtain the velocity profile of a non-Newtonian fluid flowing between two infinitely long parallel plates, with one plate being stationary and the other moving with a constant velocity (Couette flow). The viscosity of the fluid is variable and the necessary adjustment has to be made while solving the governing…

Objective: To parse thermodynamic data using MATLAB and calculating important thermodynamic properties such as enthalpy, entropy and specific heat at constant pressure. Procedure Step 1: Give the file THERMO.dat as an input to the programme, and extract the various coefficients for each species by asking the programme…

Objective: To calculate the global maxima of a stalagmite function using a genetic algorithm and optimize the algorithm to obtain more accurate values. What is the Genetic Algorithm (GA) and how does it work A genetic algorithm is a technique to solve optimization problems using the concept of natural selection. It takes…

Objective: To use the concept of curve fitting for various kinds of polynomials (in this case, linear and cubic polynomials) and explain the parameters used to measure the fitness characteristics of the curves.  Procedure Step 1: The sample data is given as the input to MATLAB, in this case, the dependence of…

Objective: To simulate the transient behaviour of a simple pendulum and obtain an animation of the same. Procedure Step 1: The behaviour of a simple pendulum can be transformed into an equivalent spring-mass-damper system, which behaves on the basis of the following differential equation: `m(d^2theta)/dt^2 + b(d theta)/dt…

Objective: To plot the P-V graph of an Otto cycle and calculate its thermal efficiency Assumptions The temperature at state 3, i.e., after heat is added to the cycle at constant volume, is given as an input as it is assumed to be known initially. All air standard cycle assumptions are valid throughout the cycle. Procedure…

Objective: To calculate the drag force acting on a cyclist and plot the results of velocity and drag force, and also drag coefficient and drag force.  Assumptions In both cases, it is assumed that the frontal area of all the bodies taken into consideration is constant. Furthermore, it is also assumed that the array…

Aim: To simulate the forward kinematics of a 2R Robotic Arm Manipulator using basic MATLAB commands. Process involved Step 1: The lengths of the links were given as inputs, along with the angular orientations of the links. The start and end points of each link were provided taking the global coordinate system to be…