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Homework #2: 2.007 Design and Manufacturing 1

This homework assignment contains 4 questions worth 25 points each. It asks students to: 1) Analyze the torque and speed characteristics of a DC motor and use it to estimate the acceleration and maximum grade of a robot. 2) Design a part that attaches to a motor shaft in Solidworks. 3) Design a circuit with switches and LEDs to minimize wire usage. 4) Design a gripper mechanism that can grip an object with 5N of force using a servo motor, and propose options to remotely actuate the gripper from the robot base.

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elvagojp
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34 views

Homework #2: 2.007 Design and Manufacturing 1

This homework assignment contains 4 questions worth 25 points each. It asks students to: 1) Analyze the torque and speed characteristics of a DC motor and use it to estimate the acceleration and maximum grade of a robot. 2) Design a part that attaches to a motor shaft in Solidworks. 3) Design a circuit with switches and LEDs to minimize wire usage. 4) Design a gripper mechanism that can grip an object with 5N of force using a servo motor, and propose options to remotely actuate the gripper from the robot base.

Uploaded by

elvagojp
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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2.007 Design and Manufacturing 1

Homework #2
NAME:____________________________________________________________
Date Issued: Thursday 14 FEB, 11AM
Date Due: Tuesday 26 FEB, 11AM
Please answer the following 4 questions showing your work to the extent possible within
the allotted time. Point allocations are listed for each question (all equal at 25 points
each, all subsections within a question are equally important to that question). This
should not take more than 6 hours. If any problem takes much more than 1.5 hours, seek
help from instructors, UAs, classmates, etc.
As described in the course policies
document, this is one of four homeworks you will complete in this course. Each
homework counts as 5% of your total grade. You will submit your work in hardcopy at
the beginning of lecture.

1. (25 points) You plan to use two brushed DC motors to drive the rear wheels of a robot (one
motor per wheel). The drive wheels are 100mm in diameter, and are 200mm apart (center-tocenter). The mass of the robot is 0.32 kg. The center of gravity of the robot is 80mm off the
ground and directly at the center of the four wheels. You have two brushed DC motors with a
planetary gear drive (Vigor BP-05) that meet the manufacturers specifications available on
the 2.007 web site. You plan to power the motor directly with a 7.4V battery.
a. Sketch the torque-speed curve of the motor at 7.4V. Label the stall torque, noload speed, and maximum power point. Give values for each of these in
appropriate units.

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b. Estimate the initial acceleration of the robot if the motors are throttled to full from
a dead stop. (Friction coefficient between the floor and the drive wheels is 0.7).
Draw a free body diagram of one of the drive wheels.

c. Use forward Euler to estimate the time it take the robot to move forward by one
meter. Explain your process and give your estimate.

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d. How steep a grade can this robot climb? What determines that limit? Power of
the motors? Torque of the motors? Friction? Tipping aft?

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2. (25 points) Below is depicted a part that can be attached to a motor output shaft and used
as a link in a mechanism. Create this part geometry in Solidworks.

There are two options for completing this problem (check only one block below):

I have completed this and a 2.007 instructor or UA has recorded my result


I posted my models (not screen shots) on Stellar under HOMEWORK/HW2_2/

2
NOTE: All dimensions in millimeters.

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3. (25 points) Design a simple circuit with only switches
and LEDs and one 7.4 V battery. There will be seven
of each arranged in the pattern shown to the right
here (leave out the decimal). There will be a separate
pattern of LEDs mounted to one board and another
pattern of switched mounted to a different board. The
segments are a both 1/6 meter tall and are 2 meters
apart. Design a circuit so that closing each switch
results in lighting each corresponding LED. Design
the arrangement so that the amount of wire
consumed is as low as you can make it. Estimate the
amount of wire needed.

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4.

(25 points total) This question concerns a mechanism for a gripper.

A) Design a gripper to the following specifications:


The gripper that can hold an object with 5N of grip force.
The object should be about 4cm in diameter lets imagine the object is a cylinder.
The gripper should be actuated by a single VS-2A servo.
Upon opening, there should be at least 1 cm clearance with the object throughout the
approach motion which should be at right angles to the axis of symmetry of the cylinder.
If the VS-2A servo loses power, the grip force should not be released.
The design should be fully modular and bolt onto a flat surface with three #8 bolts in an
equilateral triangle 4cm on each side.
A suggestion (at your discretion) -- make the gripper as simple as possible. Perhaps only one
finger should move and the other can be fixed with respect to a stationary wrist.
Sketch your design below or paste in a CAD screen shot.

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B) Provide enough calculations and explanation to persuade a classmate that the arrangement in your
sketch does provide 5N of grip force and that it opens wide enough and that the VS-2A servo is
capable of performing the actuation.

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C) Lets say we find that the gripper needs to be lighter, so we want to move the actuator (VS-2A)
off of the arm and onto the base of the robot. Develop two options by which you can accomplish
this. Describe them with annotated sketches or other figures. Assume the arm must be able to
articulate vertically by 45 degrees. For both designs, estimate the percentage of actuation force
that is diminished through the remote actuation device.

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