Labs & School
Hardwares
Eddy Current Dynamometer
Dynanometer is a motor test bench that provide resistive torque to the tested motor to simulate working condition under load
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The resistive torque is provided by electral magnets inducing a current in the aluminium flywheel. The current burns the kinetic energy of the tested motor in the form of heat
Motor-Motor Dynamometer
This version of dynamometer is simplified to achieve the same testing capability for a hub motor. Instead of using Eddy Current as the resistance torque generating method, we used a receiving motor to act as a generator to absorb the energy. The generated energy is then burned in a resistor bank. By controlling the resistor bank resistance, via PWM method, we are able to control the torque applied on the tested motor.
Electric Motor ECVT
ECVT (Electric Continuously Variable Transmission) for motor has the same functionality as an CVT for ICEs, that is to allow the motor / ICE to operate at their optimal performance range, a crucial aspect for a competition that races efficiency. It uses a series of actuators, sliders, disc springs, ball bearings, angular contact bearings, and push bearings to modify the effective pulley diameter to change the gear ratio
Softwares
Track Power Simulation
The MATLAB project is to calculate the minimum theoretical power needed for traveling around the competing track as a benchmark for drivetrain design, taking consideration of rolling resistance, gravity, air resistance, and acceleration inertial power usage.
Quadruped Kinematic Analysis
The project was to analytically calculate the body frame achievable workspace in 3D in MATLAB to facilitate motion planning in stair climbing operation for a reduced DoF (9 DoF) quadruped robot
Webots Data Display
The project is to code in Python with Matplotlib to display the real-time input/output sensor data from an external simulation software Webots.
The project is to implement a control algorithm, both in physical world and in simulated world, to balance a small cart. In physical world, simple PID is eventually implemented, but in virtual world, a Torque Controlled, Dual-Loop PID, Torque Feed-forward controller shows great potential.
6DOF Arm Trajectory Planning
The project was to plan joint commands for a 6DOF SCARA manipulator to "laser engrave" letters on a box.
The project is to code in C++ to implement a planner that is able to generate a capturing trajectory for a moving target through a map.