2.

74 Final Project
Jessica Lam, Manuel Valencia, Valeria Gutierrez
 01
OVERVIEW
Dynamics of golfing
Our Model
 theory
Relationship between M and L for an infinitely stiff K

L= VtM1
τ= Iα
=ωR1M1
α=τ/(M1R12+M2R22)
= √(2 α pi/2) M1R1 2

= √(2(τ/(M1R12+M2R22))pi/2) M1R12

L ∝ √M1
 Hypotheses

Torsional Spring
01 For a given mass, there exists an ideal K between 0 and infinity that results in
maximum momentum when the club makes contact

Mass
02 For a given K value, there exists an ideal M between 0 and infinity that produces
maximum momentum upon contact
Hypothesized Optimal Dynamics
 02

Simulation
Set up
Simulation Set Up

● Virtual Spring
● Semi-implicit Euler
Dynamics
● Step Voltage
Controller
○ Tau_t sweep for max
momentum
Simulation validation
Increasing Mass and Spring COnstant
Simulated Best DYnamics
 Notes on simulation

Simple model Controller Application

Limitations of constraints
with larger K and M
Don’t hurt your wrist
Improving controller might
machines are literally built
reveal more data
different
 03
HARDWARE
Hardware SETUP
Example Run
 Hardware Results

Rubber Bands (~0.007 Nm)

0 1 2 3

1 2.81 4.72 4.09 2.49

Nuts
(0.005kg) 2 3.63 3.02 2.82 1.20

3 2.43 2.21 1.58 1.53

1000 Pixels/Second
 Thank you!
Special Thanks To: Sangbae Kim, Se Hwan Jeon, & Ronak Roy
Questions?