mechatronics 5cce2mct individual coursework project you are a mechatro
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Mechatronics 5CCE2MCT Individual Coursework Project
You are a mechatronics design engineer working for a firm that specialises in developing custom
components for cinematic production. Your manager has sent you a parametric model of a two-
axis gantry mechanism that was developed on a previous project. The gantry can move a camera
both horizontally and vertically by rotating lead screw mechanisms attached to runners.
Mechatronics 5CCE2MCT Individual Coursework Project
Design & Analysis of a Two-axis Camera Gantry System
Brief
Your manager has asked you to design a new electromechanical actuation system composed of
two geared DC motors that drive the leadscrew runners of the two-axis gantry system shown in
Figure 1. She provided CAD components and Simulink starter models for the assembly, n.b.
these files can be downloaded from the KEATS module page in the MATLAB project archive,
camera_gantry.mlproj. She has also sent you a list of requirements that she has discussed
with the customer appended to the end of this document. She encourages you to use the model
as a starting point and welcomes further input on how to improve the mechanical design.
You are responsible for:
specifying DC motor, power supply, and gearbox characteristics
● design a digital motor controller
demonstrate the effectiveness of your design.
KING'S
LONDON
You are highly encouraged to brainstorm additional information about the context in which
this mechanical system is to be used.
●
Deliverables
a 3-minute video recording in which you present the motor and mechanism design to
an engineering design team. The video should contain an animation of the mechanism
and an overview of the Simulink model and results.
●
a 1-page written report presenting the results of your design analysis with a maximum
of 2 page of supporting figures in appendix
zip and upload Simulink model to KEATS
Ⓒ2023 Department of Engineering, King's College London
1 Mechatronics 5CCE2MCT Individual Coursework Project
●
camera
●
y
runners
origin
lead screw
Z
end support
rails
runner
Figure 1: Camera Gantry System
twoaxis_camera_gantry_start.slx
Learning objectives
Model the electromechanical system that actuates the gantry using a combination of
mathematical, physical and data-driven methods and critique the choice of
your
Ⓒ2023 Department of Engineering, King's College London
modelling approach
Specify component parameters based on a design analysis of system requirements
Implement and tune a feedback controller to control position and speed of the
mechanism
Test the controller design against multiple loading scenarios
Conduct a design space study to optimise system-level performance
Report and justify recommended design implementation
Additional resources
You are encouraged to complete laboratory exercises of weeks 22-26 to develop skills in
modelling and control of mechatronics systems.
KING'S
LONDON
2 Mechatronics 5CCE2MCT Individual Coursework Project
Marking Criteria
Individual coursework submission accounts for 30% of module grade.
Your submission will be scored with regards to its merits in six core areas:
Area
Science &
Mathematics
(20 marks)
Engineering
Analysis
(20 marks)
Engineering
Design
(20 marks)
Engineering
Context
(10 marks)
Engineering
Practice
(20 marks)
Additional
General
skills
(10 marks)
Actions
Justify modelling and control design approach
Interpret design performance using mathematical and statistical techniques
Critique choice for actuator and sensor characteristics and technology
Apply engineering tools to solve the design task
Conduct critical analysis to identify, classify and describe system performance
compared to benchmark
Adopt systems approach to improve on design
Extract and evaluate pertinent data to solve unfamiliar problems
Evaluate user needs and requirements
Identify and work with design constraints and unknowns
Communicate to a technical audience
Deliver efficient, effective and robust design
Identify and mitigate areas of risk
Demonstrate design effectiveness in the context in which the system is applied
Demonstrate effectiveness, clarity and originality of communication
Ⓒ2023 Department of Engineering, King's College London
KING'S
LONDON
3 Mechatronics 5CCE2MCT Individual Coursework Project
Requirements
Your manager discussed these requirements with the customer. You are welcome to add you
own requirements to this initial draft.
Battery Power Supply Requirements
Battery Voltage: 5-12V
Battery Capacity: 2-5 Ah
Battery Resistance: 0.1-10
Battery Lifespan: 15-20 minutes
You can use 18650 Li-Ion batteries (example)
Battery Voltage: 3.7V per battery*
Battery Capacity: 2.6 Ah
Battery Resistance: 250 m2 per battery
*n.b. 1 battery is 3.7V (1S), 2 batteries is 7.4V (2S), 3 batteries is 11.1V (3S) and so on.
leadScrewz.length
90
y
positionZ. bias
leadScrew.length
leadScrew.lead
position.bias
Figure 2: Key geometric dimensions for the gantry
gantryParams.m
Ⓒ2023 Department of Engineering, King's College London
N
leadScrew. lead
KING'S
LONDON
origin Mechatronics 5CCE2MCT Individual Coursework Project
Lead Screw
Linear travel per revolution of the screw 5-20 mm**
**n.b. parameter saved as leadScrew.lead = 10; in the gantryParams.m script
DC Motor Requirements
Stall current: 0.2A-1A
Stall torque: 500 g.cm
No-load speed: 7000-21000 rpm
Motor Sensor Requirements
Hall Sensor Encoder with 24 counts per revolution
Gantry Lift Requirements
Lift a camera payload weight of 10-20 kg
Camera Safety Requirements
No collisions with frame
Fail safe mechanisms for operation and calibration
Maximum acceleration of 30 m/s²
Camera Manipulation Requirements
Cover an area of 0.75 by 0.4 m²
Maximum jerk of 10 m/s³***
Suggestion: As the jerk is the derivative of the acceleration, this result is sensitive to the filtering of
the acceleration signal. Use a first-order filter with time delay constant of 0.01 s when you take the
derivative.
System Response Requirements
Rise time < 3-5 s per 100 mm travel
Settling time < 5-7 s per 100 mm travel
Overshoot < 2%
Undershoot < 2%
Steady-state error < 2%
Suggestion: Perform a step-response between the two ends of the frame.
Tracking Response Requirements
Relative error < 3%
Absolute error < 3%
Suggestion: Perform a tracking-response using a sine wave or polynomial trajectory.
College
LONDON
Ⓒ2023 Department of Engineering, King's College London
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