P13212: Colisionless Rimless Wheel (Wireless)
/public/

Dynamic Simulation

Table of Contents

ORIGINAL DESIGN SIMULATION

The following results (using our chosen masses, inertias, and spring constant) were obtained using the Matlab Simulation provided by Dr. Gomes.

Parameters

K = 5.9 N*m/rad

M_spokes = 0.930 kg

I_Spokes = 0.035 kg*m^2

public/Week 11 CAD Model Motor Side.PNG

public/Week 11 CAD Model Motor Side.PNG

M_wheel = 1.568 kg

I_wheel = 0.119 kg*m^2

Initial Conditions:

Theta2 = 196.0 deg

Theta2dot = 0.0

Angular Position & Velocity Plots

public/Simulation_Ang_Pos_and_Vel.png

public/Simulation_Ang_Pos_and_Vel.png

Energy Plot (25 Steps)

public/Simulation_Energy_Powered_vs_Unpowered.png

public/Simulation_Energy_Powered_vs_Unpowered.png

SIMULATION W/ REVISED PARAMETERS

Once the physical system had built, and all its components assembled, the spoke structure and wheel were weighed to check their masses, and the obtained, actual values were input into the simulation to check feasibility.

public/system_photo.jpg

public/system_photo.jpg

Parameters

K = 8.7 N*m/rad

M_spokes = 1.545 kg

I_Spokes = 0.06 kg*m^2

M_wheel = 2.25 kg

I_wheel = 0.13 kg*m^2

Initial Conditions:

Theta2 = 234.0 deg

Theta2dot = 0.0

Comprehensive Simulation Analysis:

Analysis_Simulation.xlsx

Note that in the above linked file both the original and revised design parameters are included. All data referencing the revised system design parameters are labelled with "3 Springs", as the revised design features 3 springs.


MSD I MSD II

Photo Gallery

Planning & Execution

Systems Design

Detailed Design

Photo Gallery

Build, Test, Document

Final Results & Hand-Off

Technical Paper

Poster