forward kinematics of a robotic arm

AIM: To extract the mid surface and then mesh the component with given quality criteria parameters and assign the thickness on a hood component. The hood model given consists of five different parts i.e., Hatch, left and right hinge, inner panel, outer panel. The  main objective is, for the given Hood model, Take…

REPORT ON ASSEMBLY OF AMERCAN CHOPPER: Design of american chopper using Solidworks: Objective The objective of the project is to model an american chopper using a CAD software and to render it to create photo realistic view of it. Introduction The project explains the designing of American chopper using the CAD software…

A123’s high-performance Nanophosphate lithium iron phosphate (LiFePO4) battery technology delivers high power and energy density combined with excellent safety performance and extensive life cycling in a lighter weight, more compact package. These cells have low capacity loss and impedance growth over time as well…

1.Simulate the 3 test cases from harness dashboard and write a detailed report on the results. The closed loop harness dashboard model in matlab as shown below.   It has a test sequence variant subsystem which defines the cycles of all the modes which are driving, charging and standby (for balancing) on the basis…

Theory: A lithium-ion battery or Li-ion battery is a type of rechargeable battery. Lithium-ion batteries are commonly used for portable electronics and electric vehicles and are growing in popularity for military and aerospace applications. In the batteries, lithium ions move…

Theory: Electric rickshaws (also known as electric tuk-tuks or e-rickshaws or toto or e-tricycles) have been becoming more popular in some cities since 2008 as an alternative to auto rickshaws and pulled rickshaws because of their low fuel cost, and less human effort compared…

1.  Search and list out the total weight of various types of aircrafts.  MTOW (Maximum taking off weight): It is the maximum weight at which the pilot is allowed to attempt to take off, due to structural or other limits. MLW (Maximum landing weight): It is the maximum aircraft gross weight due…

1.  For a defined driving cycle, calculate the energy required for braking. Firstly the UDDS cycle is taken as drive cycle and data for the same is downloaded in excel sheet format. A matlab code is written to process the excel sheet and do the required calculations of deceleration and braking energy and plot…

1. Run MATLAB demo ‘Speed control of a DC motor using BJT H-bridge’. Modify the model such that armature current doesn’t shoot up when motor changes direction from forward to reverse.  The model is as given below The model uses a H-bridge circuit for running the motor based on the input control…

1. Which types of power converter circuits are employed in electric and hybrid electric vehicle?   There are mainly 3 types of power converters used in electric and hybrid electric vehicle.  a.) AC-DC converter (Rectifier) : This is used to convert the AC current supply from the outlets at our home…

1. What is the difference between mapped and dynamic model of engine, motor and generator? How can you change model type?  Difference between mapped and dynamic models: The mapped models use a set of steady-state lookup tables to characterize the overall performace. While the dynamic model uses component level…

1. Firstly the  EV_defaults_in vehicle model was opened and the cargo mass was changed to 500kg. The setup of the car is as shown. Next the drive cycle FTP was chosen for simulation and the cycle is repeated 3 times to get the SOC of the car at the end of third cycle where it should have covered about 53.4 km as it…

State flow: Stateflow is a control logic tool used to model reactive systems via state machines and flow charts within a Simulink model.  1.Objective: To implement control logic of a “washing machine” using Stateflow.     Procedure: A control logic is designed as per the given instructions…

The main model is as shown. Here we can see use of different model blocks to implement the whole ATV model. There is a CVT model, an engine sensor model, vehicle body model which are embedded in the main model. We will first see how each model is made and then study the model as whole. Engine Sensor:   The output…

1.Make a Simulink model of Doorbell using solenoid block: The model is created using Pulse generator, scope, PS-simulink and simulink-PS converter, Ideal translational motion sensor, solver config, solenoid and display as shown below:   As we  can see a pulse generator is used to generate the signal…

Rankine Cycle: The Rankine cycle is an idealized thermodynamic cycle of a heat engine that converts heat into mechanical work while undergoing phase change. It is an idealized cycle in which friction losses in each of the four components are neglected. The heat is supplied externally to a closed loop, which usually uses…

Main Program clear all close all clc %%opening the file to read the contents f1 = fopen('THERMO.dat','r'); comments = fgetl(f1); %%reading the first line line1 = fgetl(f1); %%reading the second line A = strsplit(line1,' '); %%dividing the line to get temp values as distinct values global_low_temp = str2num(A{2}); %%Converting…

Genetic algorithm: Genetic algorithms are an approach to optimization and learning based loosely on principles of biological evolution, these are simple to construct, and its implementation does not require a large amount of storage, making them a sufficient choice for an optimization problems. Optimal scheduling is a…

Aim : To understand the motion of a simple pendulum using Matlab. Theory: A simple pendulum with mass 'm', length of string 'l', damping coefficient as 'b' is  considered with initial conditions given at time t=0 as angular displacment = 0 and angular velocity taken as 3 rads/sec. A simple pendulum follows 2nd order differential…

% forward kinematics of a 2R - robotic arm clear all close all clc %inputs l1 = 2; l2 = 1; theta1 = linspace(0,90,15); theta2 = linspace(0,90,15); %ct is a variable for storing each frame into "M" and then incrementing for %next frame position in M ct = 1; %for loop for getting position of manipulator at different values…