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PDR Robotic Replacement of Solar Collector Panels.pptx
- 1. Solar Panel Collector Design Review Can Güven 1
- 3. model alignment demonstration (videos) Flat 25 degrees 45 degrees 3
- 4. Max reach position with center of mass in 45 and 25 degree platforms 4 25 degrees 45 degree
- 5. Linkage Synthesis Pivot Points 5 A D
- 6. Linkage Synthesis Lengths 4.284in 2.835in 3.00in 5.666in 6 A D
- 8. Motion Study Results Motor Torque vs Time Graph 8 Time (sec) Torque (force- inch)
- 9. FBD of the four bar mechanism a = 0.304 in b = 1.536 in c = 2.881 in d = 4.278 in Following values are obtained from 3DprinterOS after Slice W2 = 23.59g =0.052 lbf W3 = 294.38g = 0.649 lbf W4 = 13.69g = 0.03 lbf 9 W3 W2 W4 a b c d e Dy Dx M4 Ay Ay
- 10. FBD of the four bar mechanism (Continued) 10 W3 W2 W4 a b c d ii Dy Dx M4 Dy
- 11. FBD of the Gripper (Continued) Cy Cx By Bx 11 W3 gg ff hh
- 12. FBD of the Rocker (Continued) W4 Cy Cx Dy Dx 12 kk zz jj
- 13. Results Solidworks = 2.16 in*lbf Mathcad= M4= 2.34in*lbf 13
- 14. Gear FBD and EOE R1 (pitch circle radius)= 1.5 in ΣMlink = 2.47 in*lbf ΣY = -Ay - F1 = 0 ΣX = Ax = 0 ΣMA = Mlink - (F1*r1) = 0 ΣMA = 2.47in*lbf - (F1*1.5 in) = 0 F1 = 1.65 lbf r1 Ax Ay F1 Mlink A 14
- 15. Gear Stress Analysis F = = = 1.64 lbf Teeth Width = = = 0.065 in Area of segment= Teeth Width * Thickness = 0.065in * 0.3 in = 0.0196 in^2 Shear Stress = = = 83.67 psi 15
- 16. Gear Factor of Safety According to SD3D Shear strength of PLA is 7250 psi Factor of Safety = = FOS = 86.65 https://www.sd3d.com/wp-content/uploads/2017/06/MaterialTDS-PLA_01.pdf 16
- 17. BLUE MOTOR CALCULATIONS (%25 stall torque) 17 This is the recommended torque, which should not be exceeded.
- 18. GEAR TEETH Calculation/Justification This means we are able to move the plate with 1:13 gear ratio. However, as recommended, we will be using at 1:30 which is more than 1:25. 18
- 20. RPM on Crank (lifting mechanism maximum torque position) 20
- 21. Motor Current at Max Torque Position 21 According to the data from lab3 we have current vs speed graph with the slope equation y=-0.0017x + 0.3203 Where the “x” is speed(RPM) calculated 137.58 in previous slide. y=-0.0017*(137.58) + 0.3203 Therefore, Current = 0.086 A.
- 22. Velocity Analysis (Max Torque Position) - Mathcad ICC O4 O2 B I13 A C rad/ sec rad/ sec in/ sec in/ sec in/ sec 22 It’s calculated that we have 4.58 RPM crank speed 4.58 RPM = 0.479 rad/sec w2 = 0.479 rad/sec Speed of the outer end of the aluminum plate
- 23. Let’s see the movement of the coupler point: 23
- 24. Velocity Analysis (Max Torque Position) - Norton Linkages Omega values(Mathcad w3=0.309,w4=0.146rad/sec) Va (Mathcad Va=1.358 in/sec ) Vb (Mathcad Vb=0.825 in/sec) Vc (Mathcad Vc = 2.55 in /sec) 24
- 25. FBD of Aluminum Plate X1 = 1.23in X2 = 2.73in W1(Weight of Alumni plate) = 0.35 lbf ΣMz = (0.35lbf*2.73in) -(F*1.23in) F =0.77lbf 25 F x1 W1 x2 Z F is the point where the grabber’s end point contacts with the plate.F value will be used in following calculations
- 26. FBD on Servo and Gripper Mechanism in locked position F = 0.77 lbf a=1.2 in b= 0.237 in d = 2.085in W= 0.35lbf 26 F Ay Ax Dy Dx A D B C a b d M3
- 27. FBD on L2 and L4 Mechanism in locked position Ay 27 By Bx Cy Cx Cy Cx Dy Dx F
- 32. Summary of Sensors Used Ultrasonic Sensor: An ultrasonic sensor is an electronic device that measures the distance of a target object by emitting ultrasonic sound waves, and converts the reflected sound into an electrical signal. IR Remote: A handheld device that can operate electronic equipment through the emission of light signals in the infrared (IR) range. Motor Encoders: An electromechanical device that provides an electric signal, providing closed loop feedback signals by tracking the position of a motor shaft. Line Trackers: Consist of infrared light sensors and an infrared LED, and functions by illuminating a surface with infrared light; the sensor then picks up the reflected infrared radiation, and the intensity of the radiation determines the reflectivity of the objects, which in our case are black tape and the table where the field is set up. Motorized Potentiometer: Reliable linear potentiometer allows us to control processes such as speed controls and tensioning motors etc. 32
- 33. State Diagram 33
- 34. Strategy Components ▪ 4 Bar movement (blue motor) ▪ Grabbing plate (Gripper/servo movement) ▪ Line detection ▪ Line following ▪ Intersection detection ▪ 90 degree turn ▪ 180 degree turn ▪ Ultrasonic sensor (distance from structures) ▪ Releasing plate (Gripper/servo movement) ▪ Field crossing 34
Editor's Notes
- Robot 1 will be placed in a position such that it is ready to grab the 45 degree panel, and the second robot likewise with the 25 degree panel Once underway, robot 1 will grab the 45 panel, raise the arm motor a set amount, and back up a small amount We will then have it turn right until the right line sensor senses a line, turning 180 degrees Line following will ensue until an intersection is detected by the line sensors At the intersection, we turn left until we sense a line, thereby making a 90 degree turn to the left Line following will ensue until the ultrasonic sensors alert the robot that it is a certain distance from the base We will move the arm motor to a pre-determined base panel level, then open the gripper to release the plate Once the plate is replaced, we will send a signal to the robot to grip the new panel, raise the arm, and back up a little We will then have it turn right until the right line sensor senses a line, turning 180 degrees Line following will ensue until an intersection is detected by the line sensors At the intersection, we turn right until we sense a line, thereby making a 90 degree turn to the right Line following will ensue until the ultrasonic sensors alert the robot that it is a certain distance from the roof We will move the arm motor to a pre-determined 45 panel level, then open the gripper to release the plate, then back up a small amount We will then have it turn right until the right line sensor senses a line, turning 180 degrees Line following will ensue until an intersection is detected by the line sensors At the intersection, we turn left until we sense a line, thereby making a 90 degree turn to the left Line following will ensue until the ultrasonic sensors alert the robot that it is a certain distance from the base The robot then turns left (motor encoders will help in accurately turning 90 degrees left) We will then go forward, crossing over into the other side of the field, until a line is detected At the intersection, we turn left until we sense a line, thereby making a 90 degree turn to the left Line following ensues until intersection At the intersection, we turn left until we sense a line, thereby making a 90 degree turn to the left Line following will ensue until the ultrasonic sensors alert the robot that it is a certain distance from the roof Arm motor will raise to the 25 degree panel level, then we will collect the panel by activating the gripper sensor, then back up a little We will then have it turn right until the right line sensor senses a line, turning 180 degrees Line following ensues until intersection At the intersection, we turn right until we sense a line, thereby making a 90 degree turn to the right Line following will ensue until the ultrasonic sensors alert the robot that it is a certain distance from the base We will move the arm motor to a pre-determined base panel level, then open the gripper to release the plate Once the plate is replaced, we will send a signal to the robot to grip the new panel, raise the arm, and back up a little We will then have it turn right until the right line sensor senses a line, turning 180 degrees Line following will ensue until an intersection is detected by the line sensors At the intersection, we turn left until we sense a line, thereby making a 90 degree turn to the left Line following will ensue until the ultrasonic sensors alert the robot that it is a certain distance from the roof We will move the arm motor to a pre-determined 45 panel level, then open the gripper to release the plate, then back up a small amount