MEC751 Project Milestone 2

.pdf

School

Toronto Metropolitan University *

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Course

MEC 751

Subject

Mechanical Engineering

Date

Dec 6, 2023

Type

pdf

Pages

15

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Department of Mechanical and Industrial Engineering Program: Mechanical Engineering Course Number MEC751 Course Title Measurements Instruments and sensors Semester/Year Fall 2023 Instructor Dr. Ahmad Ghasempoor Section Number Group Number TA Project Milestone 2 Due Date November 17, 2023 Student Name Student ID (xxxx1234) Signature* (Note: Remove the first 4 digits from your student ID) *By signing above you attest that you have contributed to this submission and confirm that all work you have contributed to this submission is your own work. Any suspicion of copying or plagiarism in this work will result in an investigation of Academic Misconduct and may result in a “0” on the work, an “F” in the course, or possibly more severe penalties, as well as a Disciplinary Notice on your academic record under the Student Code of Academic Conduct, which can be found online at: http://www.ryerson.ca/senate/policies/pol60.pdf .
1 Table of Contents 1.0 Introduction ............................................................................................................................................ 2 2. LabVIEW and Physical Setup ................................................................................................................ 4 3.0 Results ..................................................................................................................................................... 8 3.1 Static calibration .............................................................................................................................. 10 3.2.0 Instrument Error Calculations: ............................................................................................... 11 3.2.1 Sensitivity ........................................................................................................................ 11 3.2.2 Zero Drift ......................................................................................................................... 11 3.2.3 Hysteresis ......................................................................................................................... 11 3.2.4 Non-linearity .................................................................................................................... 12 3.2.5 Repeatability Error .......................................................................................................... 13 3.2.6 Total Error ........................................................................................................................ 13 4.0 Appendix ............................................................................................................................................... 14 5.0 References ............................................................................................................................................. 14
2 1.0 Introduction This milestone is concerned with calibration and demonstration of gripper mechanism with load cell sensor data using LabVIEW. The below sections provide a summary of the results obtained during this milestone. Figure 1. Flowchart of the Labview program for PID control
3 Figure 2. Wiring diagram documenting the feedback control
4 2. LabVIEW and Physical Setup In the below section, a few screenshots of the labVIEW model and the physical setup of the gripper system are shown. It is worth mentioning that the original setup was upgraded to this one for 2 main reasons, first, is the old design's complexity, and second is the size of it. The new design is simple, has less parts and overall smaller than its predecessor. The gripper mechanism is controlled via a Servo Motor and 2 claw arms. See Figures below. Figure 3. Top View of Physical Setup
5 Figure 4. Breakdown of Upgraded setup
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