Project Progress: The Floating Dutchmen

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Presentation transcript:

Project Progress: The Floating Dutchmen Teresa Bernardi Brian Lewis Matthew Rosmarin March 29, 2006

Presentation Outline Review of Objectives Completed Tasks Preliminary Results Unanticipated Challenges Progress vs. Schedule Future Plans

Review of Objectives Balance 3D Arm Driven Inverted Pendulum Identify System Parameters Design Physical System Fabricate System Design / Optimize Controller

Completed Tasks SolidWorks model Equations of motion Inertia calculations Control analysis batch files Universal joint manufacturing Basic friction identification

Preliminary Results Batch Modeling Torque Saturation Approach Example Configurations Unstable System Configurations Uncontrollable System Configurations Torque Saturation

Batch Modeling Approach Vary three model parameters Mass of end weight Length of upper arm Length of lower arm

Batch Results Test Cases (1) Mass of End Weight Varied

Batch Results Test Cases (2) Length of Upper Arm Varied

Batch Results Test Cases (3) Length of Lower Arm Varied

Unsuccessful Configurations Unstable System Configurations Torque Saturation Uncontrollable System Configurations Error in Inertia Calculations

Torque Saturation Low motor torque Solutions Higher gear ratio Larger motors

Unanticipated Challenges Low motor torque Counterweights Restricted range of motion Spacers

Progress vs. Schedule System modeling Linearization Control design Parameter identification System sizing Manufacturing Performance analysis On Target On Target On Target Not Finalized Not Finalized In Progress On Target

Future Plans System specific friction identification Equation linearization Controller optimization System manufacturing

Questions?