Python program to simulate Forward Kinematics of a 2R Robotic arm

Following is a flow simulation performed on a NACA0017 air foil. Using the NACA four digit generator on the Airfoil database list an air foil is generated. The source file is then appropirately formated to insert airfoil curve in Solid Works. Depending on the angle of attack that is to be simulated, the foil is rotated…

Flow characteristic of a fluid is determined by the Reynolds Number given by the expression `Re = (vDrho)/mu`   `v` = Velocity of the fluid`D` = Diameter`rho` = Density of the fluid`mu` = Dynamic Viscosity This project consists of  Flow Simulations carried out over a cylinder within a specified computational…

A cylindrical pipe of length 1m is simulated to carry fluid at 3 different velocities corresponding to Reynolds numbers 100, 1000 and 10000. The specifications of the pipe are as follows: Length: 1m Diameter: 40mm Thickness: 1mm The characteristics of the fluid are as follows: Fluid: water Dynamic viscosity: `8.9times10^-4`Pa.s…

 In this project, thermodynamic data collected from simulation of a Port Fuel Injected engine is extracted and analysed from a data file using a Python program. The data file is available for downloads in this link: https://drive.google.com/file/d/1L8GY56d-M8mB1KfceM-xVhGNvnCIqxjm/view?usp=sharing.  The…

In this project, curve fit is performed for a tabulated list of data containing Specific Heat values at corresponding Temperatures. The data file and the program file needs to be in the same folder (link to data file: https://drive.google.com/file/d/1vWi9Vj3AdQf0gqUK1u9jwS8zg92BHGR0/view?usp=sharing)    Following…

 An Air Cushion Vehicle(ACV) is employed in cold regions to conduct ice breaking operations in onshore(frozen rivers, lakes) and offshore areas(high seas). Primary purpose of ice breaking is for navigation but on river-fronts, it is also undertaken to avoid flooding in the upper riparian regions. An ACV is a…

An Otto cycle of an Air Standard cycle consists of two adiabatic processes and two isochoric processes. 1 - 2: Adiabatic Compression 2 - 3: Constant Volume heat addition 3 - 4: Adiabatic Expansion 4 - 1: Constant Volume heat rejection Following are State variables: P = Pressure(Pa) V = Volume(`m^3`) T = Temperature(K)…

The function `f(x,y) = 5 - (x - 2)^2 - 2*(y - 1)^2` is to be minimised subject to contraint `g(x,y) = x + 4y - 3`   Using Lagrange Multipliers to find maximum/minimum of `f(x,y)` subject to constraint `g(x,y)` `L = f - lambdag` `(delL)/(delx) = -2(x-2) - lambda = 0` `(delL)/(dely) = -4(y-1) - 4lambda…

A two arm robot with lengths 1 unit and 0.5 units is pegged at one end to coordinates (0,0). The other end which is connected through a connecter is free to rotate across the x-y plane.  x0 and y0 represent the end pegged to the origin. x1 and y1 represent the position of the connecter. x2 and y2 represent the position…

Drag force is basically a force that opposes motion of a body in fluid that surrounds it. The expression for drag force is given below: `F = 1/2(a*rho*v^2*Cd)` F = Drag Force(N) `rho` = density of the fluid that surrounds the body(air in this case)(`(kg)/m^3`) a = frontal area of the cyclist and cylce(`m^2`) `Cd` =…

Drag force is basically a force that opposes motion of a body in fluid that surrounds it. The expression for drag force is given below: F = 0.5*(rho*a*v^2*cd) F = Drag Forcerho = density of the fluid that surrounds the body(air in this case)a = frontal area of the cyclist and cylcecd = Drag coefficient   Below is…

An Otto cycle of an Air Standard cycle consists of two adiabatic processes and two isochoric processes.  1 - 2: Adiabatic Compression 2 - 3: Constant Volume heat addition3 - 4: Adiabatic Expansion4 - 1: Constant Volume heat rejection   Following are state variables: P = Pressure, V = Volume, T = Temperature,…

for a row vector t = [1:5] here t is a matrix with 1 row and 5 columns   for a column vector s = [1:5]\' here s is matrix with 5 rows and 1 column

 A Rankine cycle is a thermodynamic cycle optimised to convert heat energy to mechanical energy most often than not involving a phase change of the working fluid. The fluid is pumped in to heat chamber at high pressure where a boiler injects heat at constant pressure. This fluid, at high pressure and temperature is…

 NASA Glenn Computer program CEA(Chemical Equilibrium with Applications) is a project which documents thermodynamic data of over 2000 species.This program reported polynomial functions to compute certain thermodynamic properties like Specific Heat, Enathalpy, Entropy, etc. The NASA Glenn Program also compiled a library…

Genetic Algorithm (ga) is an in-built funtion in matlab. It is used to find the minimum of a function that is called in it. Its syntax is ga(@func,n) where "func" is the function whose minimum is to be computed and "n" represents the numberof variables in the func. This syntax most often finds a local unconstranined minima…

Data for curve fit is loaded to the script file from the directory. Two columns of data consisting of temperatures and corresponding Specific Heat values are given in the original data set. Obhective is to fit a linear and cubic polynomial curve to the original data set. Following matlab code consists of Linear polynomial…

Below is a matlab program to simulate the motion of a simple pendulum under damped conditions. Input variables in SI units are: Length, l = 1gravity, g = 9.81mass, m = 1damping constant, b = 0.5 clear all close all clc %Geometric parameters of Pendulum % length,l(m/s); mass,m(kg); damping constant,b; gravity,g(m/s^2) l…

An Otto cycle of an Air Standard cycle consists of two adiabatic processes and two isochoric processes. 1 - 2: Adiabatic Compression2 - 3: Constant Volume heat addition3 - 4: Adiabatic Expansion4 - 1: Constant Volume heat rejection Following are state variables:   P = Pressure, V = Volume, T = Temperature, cr = Compression…

Below is a program to simulate the forward kinematics of a 2R Robotic Arm   l1 and l2 represents two arms of the robot. One end of l1 is pegged at origin and both the arms are allowed a rotation of 90 degrees with an interval of 10 degrees each. The link to simulation video is as follows:  https://drive.google.com/file/d/1Ly-c42bq-9B2KfH6i036B9Hd90KD_ejC/view?usp=sharing…