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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 5