Forward kinematics manipulation of a 2R Robotic Arm using MATLAB

AIM #1: To simulate the simple crank mechanism using cylinders (diameter = 2m) in a 2D plane (XY) as shown in the figure below. In the case shown above, Revolute joints are located at P0 and P1. What type of joint must be given at P2 (Joint C) so that the system doesn't have redundancy issues? NOTE: Joint…

AIM: To simulate the motion of a compound pendulum under the influence of gravity as per the figure shown below.   - Location of the points are shown in the figure, at P0 and P1 the rods are connected by revolute joints, all characteristic data for the rods/cylinders should be taken from…

AIM: To simulate the projectile motion of a cylinder (diameter = 2m) in a 2D plane (XY) as per the figure shown below.   - Initial translation velocity about the center of mass = 10 m/s, Initial angular velocity about the center of mass = 10 rad/s. - All physical attributes for the model must be automatically…

AIM: To simulate and plot a free-falling body (point mass) of mass 1 kg and inertial properties 1 kgm2 in the Y-axis (gravity should be 9.81 m/s2 in the negative Y-direction, use dimension of length in meters not mm) A screenshot of the entire interface must be attached including the plot…

OLD: Screenshot CLEAR (copied from old project - used insert image option at that time)     RECENT: Screenshot BLUR (inserted now from insert image option)  

AIM: To plot the combined slip brush tire model.   GIVEN DATA:   OBJECTIVE: To show the effect of slip angles on the longitudinal force vs lateral force relationship using: - Slip angle (2 through 10 deg in increments of 2) - Slip ratio range of 0 to 1 (or 0 to 100%)   GOVERNING EQUATION: The combined…

1. Calculate the tire stiffness. Tire size – 275/40R18, Free radius is 13.33 inches and loaded radius is 12.36 inches. - Deflection = Free radius - Loaded radius = 13.33 - 12.36 = 0.97 inches Tire stiffness = Force * Deflection (Force is not given)   2. Explain in your own words what slip ratio and slip angle…

AIM: Calculate the following parameters: (i) Roll moment (ft-lb/g) (ii) Roll gradient (deg/g) (iii) Load transfer due to roll or elastic component (lb/g) (iv) Front roll stiffness (ft-lb/deg) at wheel center level (Hint: isolate the tire contribution) (v) Front anti-roll spring rate (lb/in) for one wheel jounce (vi) Front…

AIM: 1. Calculate the following geometric parameters: (i) Caster (ii) Mechanical Trail (iii) Kingpin Inclination Angle (iv) Kingpin Longitudinal Offset (v) Scrub Radius (vi) Kingpin Lateral Offset or Spindle Length   GIVEN DATA:   SOLUTION: Sign Convention:   Geometric Representation:   Caster (`theta`)…

AIM: Owing to the wide separation of the natural frequency of the sprung parts from that of the unsprung parts, the bounce and pitch motions of the vehicle body and the wheel motions exist almost independently. The sprung parts of a vehicle weigh 9.79 kN (2200 lb), its center of gravity is 106.7 cm (42 in) behind the front…

AIM: The sprung parts of a passenger car weigh 11.12 kN (2500 lb) and the unsprung parts weigh 890 N (200 lb). The combined stiffness of the suspension springs is 45.53 kN/m (260 lb/in) and that of the tires is 525.35 kN/m (3000 lb/in) [Use the mass and stiffness as is – no need to divide] 1. Determine the two natural…

AIM: An independent front suspension of a passenger car carries a mass (sprung mass) of 454.5 kg (or an equivalent weight of 1000 lb). The suspension spring rate is 22 kN/m (125 lb/in). The mass of the tire-wheel assembly (unsprung mass) is 45.45 kg (or an equivalent weight of 100 lb) and the equivalent tire stiffness…

AIM: To plot the lateral brush tire model.   GIVEN DATA:   OBJECTIVE: To show the variation of lateral force and aligning moment with slip angle (0 to 15 deg).   GOVERNING EQUATION: The lateral brush tire model is conceptualized in the following three zones; 1. Adhesion region: Lateral force, `F_y…

AIM: To perform classification and generation of a road profile according to ISO.   GIVEN DATA: PSD data: https://drive.google.com/file/d/0B2S2ZJKcURAmeDNFRlMtMm5MSTQ/view   OBJECTIVE: Using the PSD data given, determine the road quality using the ISO classification. These are your deliverables:  -…

AIM: To plot the longitudinal brush tire model.   GIVEN DATA: Normal load N 4000  Coefficient of friction - 0.8  Length of contact patch m  0.2 Tire tangential stiffness per unit length N/m^2  3E6   OBJECTIVE: To show the variation of traction force and critical length with longitudinal…

AIM: To perform curve fitting using the Pacjecka magic formula.   GIVEN DATA: Tire Test Data: https://drive.google.com/file/d/1_DnjoBslvM4N4z5fjBSevGC0fi0QUEhd/view?usp=sharing   OBJECTIVE: - To obtain fit coefficients so that your curve describes the tire test data accurately - To calculate the RMS error…

AIM: To show the effect of different slip angles on longitudinal force and lateral force vs slip ratio relationship; and different slip ratios on longitudinal force and lateral force vs slip angle relationship.   GIVEN DATA:   OBJECTIVE: To plot the longitudinal force vs lateral force relationship using:…

AIM: To select springs and anti-roll bars, and set up swing arm geometry to meet targets for ride frequency, roll gradient and pitch gradient, while staying within certain constraints.   OBJECTIVE: You are a part of the chassis development team for a 4WD sedan with a McPherson strut suspension in the front and…

AIM: 1. Calculate the following parameters: (i) Front end deflection under load (ii) Rear end deflection under load (iii) Pitch angle (iv) Pitch gradient   2. Use the IC location information to calculate the following: (i) Front anti-lift angle (ii) Rear anti-squat angle (iii) Front swing arm angle for 100% anti-lift…

1. Can you change the total lateral load transfer that occurs during cornering? If yes, how? - Yes, it is possible to change the total lateral load transfer that occurs during cornering. By altering the height of CG (Center of Gravity) by changing the ride height and track width dimensions using wheel spacers.  …

AIM: 1. Calculate the following parameters for front and rear suspension. (i) Sprung mass critical damping (ii) Unsprung mass critical damping (iii) Sprung mass initial damping coefficient (iv) Unsprung mass initial damping coefficient (v) Low speed compression damping coefficient (vi) High speed compression…

AIM: 1. Calculate the following parameters. Use the same front and rear spring rates for all three load conditions. The front sprung mass natural frequency target at half load is 1.15 Hz. Keep this fixed. (i) Recommended rear sprung mass frequency based on speed and wheelbase at half load condition (ii) Front sprung mass…

1. What are the two types of tierod errors with respect to ride steer? And what is the effect of these errors on the toe curve? - The two types of tierod errors with respect to ride steer are:    a. Tierod Length Error = If the tierod is shorter than the expected length i.e. the steering arc remains behind the…

1. How many degrees of restraint does a solid axle suspension have? - A solid axle has a total of 4 degrees of restraint i.e. Vertical (+ -) and Rolling (+ -) whereas 2 degrees of freedom i.e. Jounce and Roll considering a 3D coordinate space.   2. Why do we need the suspension to gain negative camber in…

AIM: To create a Rankine cycle simulator using MATLAB.   EQUATION: The formulae are as follows: Type Enthalpy (kJ/kg) Entropy (kJ/kgK) Specific Volume (m^3/kg) Liquid `h = h_f` `S = S_f` `v = v_f` Wet `h = h_f + x.h_[fg]` `S = S_f + x.S_[fg]` `v = x.v_g` Dry `h = h_g` `S = S_g` `v = v_g` Superheated `h =…

AIM: To parse the given file and perform the specified tasks using MATLAB.   EQUATION: The given formulae are as follows: Low Local Temperature: `frac[C_p][R] = a_1 + a_2 T + a_3 T^2 + a_4 T^3 + a_5 T^4` `frac[h][RT] = a_1 + a_2 frac[T][2] + a_3 frac[T^2][3] + a_4 frac[T^3][4] + a_5 frac[T^4][5] + frac[a_6][T]`…

AIM: To optimize the stalagmite function and find its global maxima using MATLAB.   EQUATION: The given function is as follows: `f(x,y) = f_(1,x) . f_(2,x) . f_(1,y) . f_(2,y)` `f_(1,x) = [sin(5.1pix + 0.5)]^0.6` `f_(1,y) = [sin(5.1piy + 0.5)]^0.6` `f_(1,x) = exp[-4ln(2) . frac((x-0.0667)^2)(0.64)]` `f_(1,y)…

AIM: To perform a curve fit on given data and estimate the fitness characteristics using MATLAB.   OBJECTIVE: 1. To plot the linear and cubic fit curves along with the raw data points. Write a code to show split wise method. 2. To validate the fitness characteristics using the curve fitting toolbox. 3. Analyze…

AIM: To visualize and solve an Otto cycle using MATLAB.   GOVERNING EQUATION: The equations to solve an Otto cycle are as follows: `PV^gamma` = c `(PV)/T = c` `V_c = frac{pi}{4} .D^2 .L` `V_s = frac{V_c}{r_c - 1}` `r_{c} = frac{V_2}{V_1} = frac{V_3}{V_4}` `V_theta = [1 + frac{1}{2}(r_c - 1) sqrt(1 + R - costheta -…

AIM: To simulate the transient behavior of a simple pendulum using MATLAB.   GOVERNING EQUATION: The ODE (Ordinary Differential Equation) represents the equation of motion of a simple pendulum with damping as follows: `frac{d^2 theta}{dt^2} + frac{b}{m}. frac{d theta}{dt} + frac{g}{L} .sin theta = 0`   ... …

AIM: To simulate the forward kinematics of a 2R robotic arm using MATLAB.   GOVERNING EQUATION: The equation to determine the position of end-effector is as follows: `X_2 = X_1 + L_2.costheta_2` , `Y_2 = Y_1 + L_2.sintheta_2` `X_1 = L_1.costheta_1` , `Y_1 = L_1.sintheta_1` `X_0 = Y_0 = 0` where; `(X_0 ,Y_0…

AIM: To calculate the Drag force against a cyclist and plot the characteristics using MATLAB.    GOVERNING EQUATION: The equation to calculate the Drag force is as follows: `F_d = frac{1}{2} .rho .A .v^2. C_d` where; `F_d` = Drag force (N) `rho` = Density of air (kg/m3) `A` = Frontal area (m2)…

AIM: To carry out a system-level simulation of an all-terrain vehicle using Simulink.   OBJECTIVE: To prepare a technical report on BAJA ATV explaining model properties for the following:  - without using Lookup table - using Lookup table   THEORY:  ATV: An all-terrain vehicle (ATV) refers…

AIM: To implement the control logic of the Washing machine and Gear shift mechanism using Stateflow.   OBJECTIVE: 1. To implement control logic of a washing machine using Stateflow as per given sequence:  - If the power supply is available, the system gets activated  - If the water supply is not available,…

AIM: To find work done by a cutting tool, create a model to implement a given equation and analyze the example 'Mass-Spring-Damper' using Simulink.    OBJECTIVE:  1. To determine the work done as the tool moves through a distance of 100 mm using the given data. Distance (mm) 0  20 40 60 80 100…

AIM: To simulate a doorbell and heater model using Simulink.   OBJECTIVE: 1. To observe the physical movement of the plunger by creating a situation where the switch is closed for 2 seconds and then released. 2. To use a thermistor to sense the temperature of a heater and turn on or turn off the fan as per…

AIM: To plot a given function and analyze the example 'Suspension System Comparison' using Simulink.    EQUATION: The given equation is as follows; `y_x = (x-1).(x-3)^2.(x-9)^2` where; `y` = dependent variable `x` = independent variable   OBJECTIVE:  1. To plot the given function using basic…