MECH9000 - Driving the Simmechanics Model with a Kinematic Input - Engineering Assignment Help

Assignment Task

DRIVING THE SIMMECHANICS MODEL WITH A KINEMATIC INPUT
In this example, we wish to move the 2-axis robot from its straight-out position to a configuration shown below, where the joints have angles of 30° and -60° respectively, over a period of 2 seconds.
Doing so will move the tip of the robot from (1,0) to (0.866,0), and the tip should follow a straightline path if the joint motion is coordinated. This will be a so-called “inverse dynamics” analysis, as we are driving the mechanism with kinematic drivers and computing the torques required to produce this motion.
In order to do this, we must somehow express joint position (or velocity) as a function of time and feed this to the revolute joint as an input. The model can then be configured to compute the joint torque, and this can be taken as an output which can be processed. For this model, it will be converted to a Simulink signal and fed to a scope object.

1. Complete/Open the model as per the handout given in week 1 and save under a new name. This model can now be edited as below to create the inverse dynamic model.

Defining a Suitable Signal

In order to avoid excessive torques, we wish to accelerate and decelerate the joints smoothly. If we apply a step change in angular velocity or a ramped function for joint position, we would have a sharp acceleration at the start and end of the motion, which would generate large torques. In this case, we will use a sinusoidally-based signal which has smooth transitions at the start and end of the motion and whose derivatives are continuous and smooth also. We could also use a polynomial to achieve the same thing.

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