Automated Trash Container

In this exercise, a 2D mathematical model of a trashcan disposing a tray was created in MathIllustrations in the form of a four-bar linkage. Afterwards, the member lengths and coordinates of the model were transferred into Solidworks. Difficulties that I ran into while designing this would include the smooth transition of the tray from the top to the backside of the figure, as well as the accurate transfer of the mathematical model to Solidworks.

     The goal of this simulation was to create an accurate model of how fast and with what acceleration four-wheeled cart could travel at over a set distance without tipping a 12 inch 8020 aluminum extrusion. The track and car were simplified into flat platforms to make it easier to establish the correct degrees of freedom for the system. This simplification did not significantly decrease the validity of the simulation, as the velocity profile could still be followed in this configuration. The max theoretical time for the car would be 5.48 seconds, as the forward pass would take 2.74 seconds as seen in the second image of the carousel below. 

     However, for testing, a delay was needed between the forward and backward passes in order to ensure the bar would not tip. This meant that in the program that was uploaded to the Arduino, the estimated time for the entire travel distance was 5.963 seconds as seen in the third image of the carousel.

In this introductory assignment, the fundamentals of motion analysis and simulation data collection were discussed and practiced. With pre-made pieces, I created a Solidworks assembly with which I carried out subsequent motion studies. The first set of studies involved creating trace paths at different parts of the extension link. This helped to understand how different parts of the assembly traveled during the simulation. The images in the carousel below show the different measurements that were taken. The maximum motor torque with a 20RPM rotational speed was approximately 6 ft-lb. The decreasing motor torque can be explained by the fact that this is a dynamic system, and that the torque will be different depending on the point in the path of the linkage. The maximum reaction force on Bearing 1 is approximately 3 lbf, and for Bearing 2 was zero because the mate could not be solved without using a bushing. The magnitude of the maximum power consumption was approximately 6.3 kW for 600RPM. 

In this exercise, a carriage was constructed using a lead screw, a motor controller, a Neema stepper motor, and Repetier host. The goal of this assignment was to learn about basic linear motor control, and how when combined with multiple motors, additional degrees of freedom can be achieved. The new skills gained from this assignment were understanding the basics of G-Code and how to construct a linear motor-controlled system.