Assembly
Why I made an accurate assembly.
Why I made an accurate assembly.
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This assembly, just like every part, was modeled completely in SolidWorks. Every pin, spacer, electronic mount, or any other physical part is included in this assembly with an accurate tolerance and material assignment to try to get close estimates of mass and moments of inertia which I use in simulations to tune our control algorithm. To me it was important to include everything not just for simulations, but also because this forced me to analyze different design decisions and possibilities. In this design, I researched and focused on the linkages between the servo motors and actuated parts. After working out the rigid body kinematics on what specific movement I wanted from each servo, it was extremely helpful to see the movement on CAD and confirm my calculations. My design produced a very linear actuation speed, and had a Servo Deflection to Gimbal Deflection ratio of about 3:1. This improved on possible mechanical accuracy while making the job easier for our control software.
This assembly, just like every part, was modeled completely in SolidWorks. Every pin, spacer, electronic mount, or any other physical part is included in this assembly with an accurate tolerance and material assignment to try to get close estimates of mass and moments of inertia which I use in simulations to tune our control algorithm. To me it was important to include everything not just for simulations, but also because this forced me to analyze different design decisions and possibilities. In this design, I researched and focused on the linkages between the servo motors and actuated parts. After working out the rigid body kinematics on what specific movement I wanted from each servo, it was extremely helpful to see the movement on CAD and confirm my calculations. My design produced a very linear actuation speed, and had a Servo Deflection to Gimbal Deflection ratio of about 3:1. This improved on possible mechanical accuracy while making the job easier for our control software.
