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Lab # 3: The Programmable Robot

Lab # 3: The Programmable Robot. General Engineering Polytechnic University. Types of Gears Simple Gear Train Compound Gear Train Gear Ratio and Velocity Ratio Accuracy and Precision. Objectives Procedure Distance Test Angle Test Time Test Proficiency Test #2: Excel Closing. Overview.

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Lab # 3: The Programmable Robot

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  1. Lab # 3:The Programmable Robot General Engineering Polytechnic University

  2. Types of Gears Simple Gear Train Compound Gear Train Gear Ratio and Velocity Ratio Accuracy and Precision Objectives Procedure Distance Test Angle Test Time Test Proficiency Test #2: Excel Closing Overview

  3. Types of EARS

  4. Spur Gear • SPUR GEAR: gear wheel having radial teeth parallel to axle

  5. Crown Gear • CROWN GEAR: gear wheel with teeth set in rim perpendicular to its plane crown gear

  6. Pinion Gear • PINION: small cogwheel, teeth of which fit into those of larger gear wheel pinion gear

  7. Idler Gear • Between two other gears to transmit motion from one to other • Changes direction of rotation • No effect on ratios • ODD number = reverse rotation • EVEN number = same rotation idler gear

  8. Simple Gear Train n1 n2 n3 1” 2” 4” Gears with the same size teeth, ratio equal to ratio of number of teeth (n) on each gear. 1 2 1 2 3 3

  9. n6 n2 n5 n1 n8 n4 n7 n3 Compound Gear Train Angular velocities of all gears are equal to that of the shaft on which they are mounted 1 3 5 7 2 4 6 8

  10. Gear Ratio = Velocity Ratio = Gear Ratio = Velocity Ratio = Gear Ratio andVelocity Ratio Simple Gear Train Compound Gear Train

  11. Accuracy and Precision Accurate Precise Accurate Imprecise Inaccurate Precise Inaccurate Imprecise

  12. Objectives • Suggest improvements to assembly instructions • Learn importance of understanding instructions and components BEFORE assembly • Understand related concepts • Troubleshoot • Write/Test programs to evaluate performance • Make necessary calculations

  13. Procedure • Take notes as you work to help you answer questions • Refer to assembly instructions throughout lab • Analyze components • Assemble robot • Understand gear linkages • Determine gear ratio • Perform three tests

  14. Distance Test • Draw expected straight line path • Run robot for 3 units of time • Standard = (Distance traveled by 3) / 3 • Distance robot should run for 5 units of time = standard value * 5 • Repeat 10 times: • Run robot for 5 units of time • Measure the distance START END

  15. Angle Test • Use data from the distance test • Draw straight lines from origin to points • Measure each angle of deviation () • Determine accuracy and precision • Determine standard START END 

  16. Time Test • Choose distance for robot to travel (should be more than 2 feet) • Set robot to run on straight path infinitely • Measure amount of time robot takes to travel chosen distance (first trail is standard) • Repeat 10 times using same distance START END

  17. Proficiency Test #2Excel • Use results of all three tests • Follow format in manual • Include: • Title page (include source of data) • Chart comparing your data to someone else’s • Legends with charts (not illustrated in manual) • Table of ONLY your data for each test (more trials may be included)

  18. Closing • If failed, discuss possible reasons for failure • Include recorded observations: • All written observations • Sheets with plotted data • Original data must be signed by TA • Use Excel to organize report data • Make sure ALL questions are answered

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