6.VIRTUAL IMPLEMENTATION - K-Division-2022-2023-EVEN-SEM/Repo-14 GitHub Wiki
6.0 Present Subsystem
| SUBSYSTEM | NAME |
|---|---|
| 1 | Arm movement |
| 2 | Waist movement |
| 3 | Additional Features |
| 4 | Input unit |
6.1 2D MODELLING
BASE
HEAD
UPPER BODY
LEG
ARM
SHAFT (HAND)
SHAFT(WAIST)
6.2 3D MODELLING
ASSEMBLY
BASE
LEGS
UPPER BODY
ARM
GEAR
SHAFT
•Arm shaft
•Waist shaft
6.3 Circuit Diagram
6.3.1 Bluetooth module
6.3.2 Display
6.3.3 Servo Setup
6.3.4 Complete Circuit Diagram
6.4 FLOW CHART
ARM MOVEMENT
WAIST MOVEMENT
ADDITIONAL FEATURES
6.5 Bill of Materials
| Sl. No. | Part Name / drawing | Person Responsible | Name of the consumable used | Specification | Qty | Fabrication process if needed |
|---|---|---|---|---|---|---|
| 1 | Servo motor | Abhishek | Plastic | Tower pro SG90 | 2 | - |
| 2 | Adapter | Huda | OTS | 5V | 1 | - |
| 3 | Body material | - | Arcylic sheet | Light weight (2MM) | - | laser cutting or 3D printing |
| 4 | Gear | Ratan | Plastic | 8 | - | |
| 5 | Shaft | Nitya | Nylon | Lightweight | 4 | - |
| 6 | Indicator | Huda | LED light | 2 | - | |
| 7 | Switch | Nitya | OTS | ON/OFF or LEVER switch | 1 | - |
| 8 | Aurdino | Abhishek | OTS | - | ||
| 9 | Servo motor | Ratan | Plastic | Tower MG996 | 2 | - |
| 10 | Jumper wires | Huda | OTS | - | 40 | - |
| 11 | Bread board | Abhishek | OTS | - | 1 | - |
| 12 | Ultrasonic sensor | Ratan | OTS | - | 1 | - |
| 13 | LCD Display | Nitya | OTS | - | 1 | - |
6.6 Motor Sizing
(1) UPPER BODY(ARM SIDE GEAR)
Measurements of upper body
•Length - 90mm
•Breadth - 60mm
•Height - 35
Volume of the body = l * b * h
Volume = 90 * 60 * 35
Volume=189cm^3
Density of the acrylic sheet is 1.18g/cm^3
Mass of the body = Density * Volume
Mass of the body = 1.18*189
Mass of the body = 0.223 kg
Force = Mass * Acceleration due to gravity
Force = 0.223*9.8
Force =2.1856 N
Torque = force * Radius of action
Torque = 2.1856*6
Torque = 13113.6Nmm
Torque = 0.1335 kg-cm
Coefficient of friction between gears = 0.3
Allowable Torque = 0.1335 kg-cm
Factor of safety = (Maximum load/torque)/(Allowable torque)
Factor of safety = 1.5
Maximum Torque= Allowable Torque * 1.5
Maximum Torque =0.2002 kg-cm
(2) UPPER BODY (WAIST SIDE GEAR)
Measurements of upper body
•Length - 90mm
•Breadth - 60mm
•Height - 35
Volume of the body = l * b * h
Volume = 90 * 60 * 35
Volume = 189 cm^3
Density of the acrylic sheet is 1.18g/cm^3
Mass of the body = Density * Volume
Mass of the body = 1.18*189
Mass of the body = 0.223 kg
Force = Mass * Acceleration due to gravity
Force = 0.223*9.8
Force =2.1856 N
Torque = force * Radius of action
Torque = 2.1856*10.39
Torque = 22.70834 Nmm
Torque =0.231kg-cm
Coefficient of friction between gears = 0.3
Allowable Torque = 0.231kg-cm
Factor of safety = (Maximum load/torque)/(Allowable torque)
Factor of safety = 1.5
Maximum Torque = Allowable Torque * 1.5
Maximum Torque =0.346 kg-cm
(3)LEGS
Measurements of lower legs
•Length - 95mm
•Breadth - 31mm
•Height - 57mm
Volume of the body = l * b * h
Volume = 95 * 31 * 57
Volume = 167.86cm^3
Density of the acrylic sheet is 1.18g/cm^3
Mass of the body = Density * Volume
Mass of the body = 1.18*167.86
Mass of the body = 0.198 kg
Force = Mass * Acceleration due to gravity
Force = 0.198*9.8
Force =1.9404N
Torque = force * Radius of action
Torque = 1.9404*5.95
Torque =11.545 Nmm
Torque =0.1172 kg-cm
Coefficient of friction between gears = 0.3
Allowable Torque = 0.1172 kg-cm
Factor of safety = (Maximum load/torque)/(Allowable torque)
Factor of safety = 1.5
Maximum Torque = Allowable Torque * 1.5
Maximum Torque =0.1758 kg-cm
CONCLUSION
Therefore according to the calculations performed the motors used for particular torque calculations are
-
Motor in the upper body(arm side) having Maximum Torque of 0.2002 kg-cm requires Tower Pro SG-90 servo motor.
-
Motor in the upper body(waist side) having Maximum Torque of 0.346 kg-cm requires Tower Pro MG-995 servo motor.
-
Motor in legs having Maximum Torque of 0.1758 kg-cm require Tower Pro SG-90 servo motor.
6.7 Power Specification
Adapter Sizing:
(1) For Servo Motor SG-90
I = load current * quantity * safety factor
I=650mA x 2 x 1.2
I=1.56A
Required current adaptor: 2A
Required voltage adaptor: 5V
Model: Tower pro SG-90
(2) For Servo Motor MG-995
I = load current * quantity * safety factor
I=1400mA x 1 x 1.2
I=1.68
Required current adaptor: 2A
Required voltage adaptor: 5V
Model: Tower pro MG-995