The sandbox

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Revision as of 10:12, 27 September 2017

This is the sandbox, so I'm assuming I can edit this as I please.

Test0

Contents

Test1

Test2

Test3

Test4

test

(-3dB point) = \frac{1}{2\pi}(R1*R2*C1*C2)^\frac{1}{2}


x[n+1] = x[n] + \gamma(u[n]-x[n]) - K_P\sum_{j=1}^N(\frac{1}{N}x_j[n]) + K_I\sum_{j=1}^N(\frac{1}{N}w_j[n])


w[n+1] = w[n] - K_I\sum_{j=1}^N(\frac{1}{N}x_j[n])


\begin{bmatrix}
  \dot u_x \\
  \dot u_y \\ 
\end{bmatrix}
= 
\begin{bmatrix}
  1 & 0 & 2(R_x-x_{Mx}) & (R_y-x_{My}) & 0 \\
  0 & 1 & 0 & (R_x-x_{Mx}) & 2(R_y-x_{My})\\
\end{bmatrix}
\begin{bmatrix}
  k_{Mx} & 0 & 0 & 0 & 0 \\
  0 & k_{My} & 0 & 0 & 0 \\
  0 & 0 & k_{Mxx} & 0 & 0 \\
  0 & 0 & 0 & k_{Myy} & 0 \\
  0 & 0 & 0 & 0 & k_{Mxy} \\
\end{bmatrix}
\begin{bmatrix}
  g_{Mx}-x_{Mx} \\
  g_{My}-x_{My}\\
  g_{Mxx}-x_{Mxx} \\
  g_{Myy}-x_{Myy} \\
  g_{Mxy}-x_{Mxy} \\
\end{bmatrix}

Spur Gears

Spur gears.png


Rack and Pinion

Rack and pinion.png


Bevel Gears

Bevel gears.png


Helical Gears

Helical gears.png
Gear-helical2.jpg


Worm Drives

Worm drive.png


Planetary Gears

Gear-planetarystage.jpg
Gear-planetary.jpg


Ball Screw

Gear-ballscrew.gif
Gear-ballscrew2.jpg


Harmonic Drive Gears

Gear-harmonicdrive.gif
Gear-harmonicdrive2aligned.jpg


Testing

Class 1 (W 9/20)

Welcome to the course and course website. Structure of the course (HW due Wed, student-generated lectures and learning materials, in-class assignments, feedback on student lectures, occasional Friday quizzes). Book, software, (lack of) D-H parameters, syllabus, V-REP simulator, office hours.

At home:

Videos: first 3 videos of Chapter 2, through Chapter 2.2
Reading: Chapters 2.1 and 2.2
Software: download github software with book, install V-REP and verify that you can use Scenes 1 and 2 (the UR5)
HW1, due 1:30 PM 9/27: Exercises 2.3, 2.9, 2.20, 2.29. Also, create your own example system with closed loops, something not in the book, and solve for the degrees of freedom using Grubler's formula. Make it something that exists or occurs in common experience, not necessarily a robot. Imagine using it to teach someone about Grubler's formula.

Class 2 (F 9/22)

Video/reading comprehension question
Sample student lecture

At home:

Videos: 2 videos on Chapter 2.3
Reading: Chapter 2.3

Class 3 (M 9/25)

Video/reading comprehension question
Bring your laptop, demo V-REP UR5 scenes
Help with HW1

At home:

Videos: 2 videos, Chapter 2.4 and 2.5
Reading: Chapters 2.4 and 2.5
Turn in HW1

Class 4 (W 9/27)

Video/reading comprehension question
Solutions to HW1; student examples of Grubler's formula

At home:

Videos: first 3 videos of Chapter 3, through Chapter 3.2.1
Reading: through Chapter 3.2.1
HW2, due 1:30 PM 10/4:

Class 5 (F 9/29)

Video/reading comprehension question
Lecture
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