MECH9000 - Advanced Dynamics with Applied Computer Modelling - Engineering Assignment Help

Assignment Task

Model
You have been provided with an assembly, created in Solidworks, giving a slightly simplified representation of the gimbal. You have also been provided with a Simscape Multibody model created with the Solidworks/Simscape translator. This translator provides an xml file containing the topology and STEP files containing precise 3D geometry for each body.
For your model you will need to ensure that a camera of a given mass and centre of mass is placed on the platform and balanced. 

Tasks
1. Create a kinematic description of the location of the camera mounting point using the specific settings given. You can use Denavit-Hartenberg matrices, quaternions or any other method you feel will work. You should be able to calculate the location of this point based on a given set of angles.

Note that you may wish to choose zero positions that best suit your method – these might not correspond to the zero positions sensed from the joints in the model.

2. Calculate using Lagrangian Dynamics a set of equations describing the free motion of the moving parts of the gimbal axes. You of course need to include gravity in these calculations. Use matlab’s ODE solver functions to solve these equations and compare with the Simscape model. Inertia and centre of mass locations will be available from the Solidworks models.

3. Create a model of a suitable motor (some research might be required here to identify parameters) and implement with a basic PID type control scheme, in a manner similar to that outlined in the tutorial material. In the actual gimbal, the camera orientation can be sensed using an IMU or similar, which can give angular position and derivatives, as well as linear accelerations. Locking two of the three axes, try to maintain a constant orientation about the third while rotating the base irregularly.

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