Project 1

We have total of moment in screw shaft:

d 2 (t ) d  t 
 S  Tm (t )  I m dt 2
 Ct
dt
 Tp
(1)

In there:

 S is the lead screw reaction force

Tm (t ) torque of motor

I m inertial of moment of motor

Ct totally dampling coefficient of screw shaft

We can calculate
Ct by equation :

Ct  2 K t m 
( = 0.35) and

1 1 1 1 1
   
K t K c Kb K s K nut (2)

In there:

Kc :dampling coefficient of coupling

Kb: dampling coefficient of bearings

Knut :dampling coefficient of nut

Kshaft: dampling coefficient of screw shaft

AE  d 2 E

With Cshaft = L 4 L (3) ( d: diameter of screw shaft, E elastic modulus of screw shaft( made by
steel), L is the length of screw shaft)
  mgp
Tp T
: load torque in ball screw: p = 2 (4)

with :  friction coefficient = 0.15; m: mass of load; g : acceleration of gravity; p: feed screw lead
(10mm) and  : positive efficiency of feed screw( normally 96%)

d 2 (t ) d  t   mgp
 S  Tm (t )  I m dt 2
 Ct
dt + 2 (5)
So from (1) we have:

Figure 2: Free-body diagram of ball screw and mass

In this figure 2, we have :

∑ Work in = ∑ Work out

d 2x t
 S  t   F  t  dt 2
(6)

x (t ) d 2 x(t ) d 2 x(t )
 S  pm
But p =  (t ) and F(t) = ma= m dt
2
so (6) => dt (7)

d 2 x (t ) d (t )  mgp d 2 x (t )
Tm (t )  I m  Ct pm
From (5) and (7) we have: dt dt + 2 = dt

Using Laplace transform we have:

 mgp 1
Tm ( s)  I m s  ( s)  Ct s ( s ) + 2 * s = pms 2 x( s ) (8)
2
 x( s )
 ( s) 
Since p so:

x( s ) x( s )  mgp 1
Tm ( s)  I m s 2  Ct s
(8) becomes p p + 2 * s = pms 2 x( s )

s 2 Ct s mg  p 1
Tm ( s )  ( pms 2  I m  ) x( s ) 
p p 2 s

Project 3

Applying Lagrange equation we have:

d 2 x(t ) d 2l (t ) d 2 (t ) d (t ) d 2 (t )
(m3  m4 )  m4 sin   m4 l cos   2 m4 cos  (t )l  m4 l sin   Fx
dt 2 dt 2 dt 2 dt dt 2
(1)

d 2 x(t ) d 2l (t ) d (t )
m4 sin  2
 m4 2
 m4l  m4 g cos   Fl
dt dt dt (2)
 d 2 x(t ) d 2 (t ) d (t )
cos  2
l 2
 2l  g sin 
dt dt dt (3)

dx(t )
x1  x(t ); x2  l (t ); x3   (t ); x4 
Put : dt and

dl (t ) d (t )
x5  ; x6  ; u1  Fx ; u2  Fl
dt dt

So :

dx1 dx dx
 x4 ; 2  x5 ; 3  x6
dt dt dt

dx4 1 dx5 s inx 3 1 sin 2 x3

 (u1  u2sin 3 )  x x
2 6  g cos x3  u1  (  )u2
dt m ;
dt m 3 m4 m 3 and

dx6 1 cos x3 cos x3 sin x3

 ( g sin x3  2 x5 x6  u1  u2 )
dt x2 m3 m3