2R Robotic Arm Simulation using Matlab

Shaper Machines work under the principle of 'Quick return mechanism'. It is a reciprocating type of machine, which uses a single-point cutting tool. The tool will be fixed in the ram. The machine vice/table holds the workpiece and the cutting tool reciprocates over it, by the repeated reciprocating motion of the cutting…

A valvetrain or valve train is a mechanical system that controls the operation of the intake and exhaust valves in an internal engine. The intake valves control the flow of air/fuel mixture (or air alone for direct-injected engines) into the combustion chamber, while the exhaust valves control the flow…

THE PISTON-CRANK ASSEMBLY: The piston is restricted to only the y-axis linear moment. The crank is restricted to the rotational axis at its central axis. The piston and the crank are further restricted by employing the gudgeon pin, the crankshaft assembly and the wrist-pin offset. Gravity is added.    PISTON:…

A planetary gear set (also known as an epicyclic gear train) consists of two or more gears mounted so that the centre of one gear revolves around the centre of the other. A carrier connects the centres of the two gears and rotates to carry one gear, called the planet gear or planet pinion, around the other, called…

The Geneva drive or Maltese cross is a gear mechanism that translates a continuous rotation movement into intermittent rotary motion. The drive wheel is usually equipped with a pin that reaches into a slot located in the driven wheel that advances it by one step at a time.  There are two types:  External Geneva…

This project aims at studying how different slip angles influence the forces (Fx and Fy) vs slip ratio (sweep from 0 to 60%) and how different slip ratios influence the force (Fx and Fy) vs slip angle (sweep from 0 to 20 deg) using the Modified slip approach in Pacjecka Magic tire model in MATLAB.   Aim: To study…

This project aims at using the magic tire formulation to obtain the fit coefficients so that the predicted curve describes the tire test data accurately with a root mean square error of less than 2.0 Nm.  The Pacjecka magic tire model is the most commonly used empirical tire model in practice. It is based on the magic…

This project aims at modelling the combined slip brush tire models for variable and constant slip angles. The relationship between the lateral force and longitudinal force is projected to the slip angles. We will even see the variation of effective cornering stiffness to the variable slip ratios.  A tire model is…

Engine performance is an indication of the degree of success with which it does its assigned job i.e., conversion of chemical energy contained in the fuel into useful mechanical work.   AIM To evaluate the performance characteristics of a SI engine using MATLAB.   OBJECTIVE To perform the below tests on a 2005…

This project aims at optimizing the suspension system design for a 4WD Sedan supposed to use a McPherson Strut in the front and a multilink suspension setup in the rear. The program is in its early stages and, this project details the selection process of baseline springs and anti-roll bars using CAE based on some vehicle…

1. What are the two types of tire-rod errors concerning the ride steer? And what is the effect of these on the toe curve?  The two types of tire-rod errors are about its length and angle to the ideal centre of the steering arm ball travel. Curved ride steer plots are undesirable because the steering effect changes…

To calculate the following geometric parameters by taking the given suspension hardpoints:  Caster. Mechanical trail. Kingpin inclination Angle. Kingpin longitudinal offset. Scrub radius Kingpin lateral offset or spindle length HARDPOINTS: SIDE VIEW GEOMETRY: Parameter and its definition Calculations Diagram CASTER…

The instant centre is a point in space (real or extrapolated) about which the suspension links pivot. The line drawn from the wheel centre to the instant centre is the equivalent swing arm and its length and angle are critical to suspension design. Geometrically it is obtained at a point where the upper control arm and…

GENETIC ALGORITHM: The genetic algorithm is an optimizing algorithm derived from Charles Darwin's natural evolution principle. Its process based on natural selection where the most fit elements are chosen at random and are set up for reproduction to produce offspring for the next generation.   Genetic algorithms…

FORWARD KINEMATICS: Forward kinematics is the process of getting the position and velocity of the end effector, from the given joint angles and positions. In this project, we are going to simulate the positions of the two arms of the 2R Robotic arm by pre-defining the positions of the three joints of the arm.   …

Curve fitting is the method of capturing the trend in the data and creating a curve by assigning a single function across the entire range to identify the coefficients ‘a’ and ‘b’ such that f(x) ‘fits’ the data well.    I. AIM To write code to fit a linear and cubic polynomial…

SIMPLE PENDULUM A simple pendulum consists of a heavy point mass suspended from rigid support by means of an elastic inextensible string. The motion of a simple pendulum without damping is like simple harmonic motion and the angular displacement is given by, `theta = theta_maxsinroot2 (g/L)t` where, `theta`  is the…

THE OTTO CYCLES: The Otto-cycle is a cycle of thermodynamic processes used by SI (Spark Ignition) IC engines. Petrol powered engines work on the Otto cycle, where the fuel is combusted with the help of a spark. It consists of two reversible adiabatic (Isentropic) and two constant volume processes.  Process 0-1: Isobaric…

A Rankine cycle is a type of steam cycle in which the working fluid is water, which is sometimes in the liquid phase and sometimes in the vapour phase during its cycle of operation. In this cycle, each process is assumed to be an ideal process, i.e., an idealised thermodynamic cycle of a heat engine that converts heat…

The NASA thermodynamic data file contains seven high-temperature and seven low-temperature thermodynamic coefficients of 53 different species along with their local temperature ranges. Thermodynamic data for individual species are necessary for performing equilibrium chemistry and finite-rate chemical kinetics calculations.…