Design of a wrist and operator interface for an agricultural manipulator : a thesis presented in partial fulfilment of the requirements for the degree of Master of Technology in Engineering and Automation at Massey University

Roadside mowing and tree pruning has always been a job that most people would consider as unpleasant. This project is concerned with the development of a system to make these tasks simpler, safer and more pleasant for the operator. 1.1 Software This project is involved with the design of a complex mechanical system, which could be done using a modern CAD package. To achieve this, research into what modelling package was best was necessary. Several contenders were considered. These include SolidWorks [1], Mechanical Desktop [2] and CADKEY [3]. CADKHY was disregarded early as it is not as expandable as the other two. Both SolidWorks and Mechanical Desktop have additional software packages that allow for motion, force and stress analysis. The major difference between SolidWorks and Mechanical Desktop, is that SolidWorks is a true three dimensional modelling package, whereas Mechanical Desktop is based on the two dimensional AutoCAD system with a three dimensional toolbox. The choice was finalised to SolidWorks as it handles three dimensional modelling more efficiently. Massey University also uses SolidWorks. This allowed the project to continue while studying at the Turitea campus. 1.2 Overview This project is involved with the development of a wrist mechanism and hydraulic control system for an agricultural manipulator. The manipulator is called the Hydra Trim and was developed by Pivot Engineering Ltd. Napier [4]. The wrist mechanism is an integral part of making the Hydra Trim a success. The hydraulic control requires not only the valves but also an interface between the operator and the valves

Computational fluid dynamics model of a quad-rotor helicopter for dynamic analysis

The control and performance of a quad-rotor helicopter UAV is greatly influenced by its aerodynamics, which in turn is affected by the interactions with features in its remote environment. This paper presents details of Computational Fluid Dynamics (CFD) simulation and analysis of a quadrotor helicopter. It starts by presenting how SolidWorks software is used to develop a 3-D Computer Aided Design (CAD) model of the quad-rotor helicopter, then describes how CFD is used as a computer based mathematical modelling tool to simulate and analyze the effects of wind flow patterns on the performance and control of the quadrotor helicopter. For the purpose of developing a robust adaptive controller for the quad-rotor helicopter to withstand any environmental constraints, which is not within the scope of this paper; this work accurately models the quad-rotor static and dynamic characteristics from a limited number of time-accurate CFD simulations

EXOhSPEC collimator mechanical design

The Exoplanet High-Resolution Spectrograph (EXOhSPEC) is a high-resolution spectrograph for the characterisation of exoplanets with the Thai National Telescope. The folded version of this instrument comprises one triplet lens to collimate the beam incident on the grating and to focus the beam reflected by the grating onto the camera. This collimator comprises three lenses L1, L2 and L3 of diameter varying between 50 mm and 60 mm. We specified the barrel to guarantee a maximum decenter of the lenses equal to 25 μm. The maximum error in the orientation of each single lens is specified to be lower than 0.03º. The proposed concept is based on a semi-kinematic mounting which is used to restrain these lenses with 6 and 30 N of preloads on the axial and lateral directions to ensure their stability. These preloads are applied to the lenses using the elastic pushing force of silicone elastomers and spring force from ball-plungers. We present the design of the collimator and the assembly method. Our Finite Element Analyses show that the maximum surface error induced by the preloads is lower than 60 nm Peak-To-Valley on each optical surface of L1, L2, and L3. We describe our manufacturing process using NARIT’s CNC machine and its validation using our Coordinate-Measuring Machine

Effects of introducing a parametric Cad in a first year course in engineering degree regarding quality of technical drawings

Comunicació presentada al ICERI 2019 12th annual International Conference of Education, Research and Innovation (Seville, Spain. 11-13 November, 2019).The evolution of teaching in technical drawing during the last years has been addressed towards new paradigms based on 3D modeling. Nevertheless, not only 3D modeling skills are important for an engineer, but the ability to generate quality technical drawings also are part of the learning objectives and should, therefore, be included in the curriculum. For several years, the core subject of technical drawing at Universitat Jaume I has been a common subject during the first course of different Engineering bachelor’s degrees (Mechanical, Industrial Technologies, Electrical, Chemical, and Agrifood/Rural). However, in the last two years, the subject in the case of Agrifood Engineering has been taught independently. This course, aiming for a more intuitive introduction to 3D modeling, the subject has experienced a general methodological change for all the degrees, except for the Agrifood Engineering one. Apart from changing the order of contents with the intention of improving spatial vision, the use of a different commercial CAD software was implemented, this being parametric. In a previous work, the effect of this general methodological change was assessed through the academic performance regarding 3D modeling by comparing the scores before and after implementing the change, as well as through specific questionnaires addressed to students and teachers, obtaining very positive results. Notwithstanding, the effects of the change performed on the obtainment of technical drawings were not analyzed. Taking advantage of having two groups (the one that has experienced the change and the one that did not), they were asked to model and generate the drawing of the same parts in their final exams, with the aim of comparing the scores obtained when assessing their skills of modeling, but also in creating technical drawings (views, sections and dimensioning) and in the quality on technical drawings presentation (title block, line thickness, etc.). Scores were collected and statistical analyses were performed, bringing to light that despite the good results that were obtained in previous studies regarding the 3D modeling, teaching efforts in how to generate technical drawings with quality should be reinforced in future

Integrated Educational Project of Theoretical, Experimental, and Computational Analyses

This research demonstrates how to design an integrated capstone project by including theoretical, experimental and computational analyses of a truss bridge. The project mainly focused on leading students to approach engineering problems with various methods and to understand the advantages and disadvantages of each method. The students applied three methods to acquire the values of stresses and deflections of members in the given truss bridge. First, they calculated the stresses and deformations theoretically. Second, they actually conducted an experiment of the truss bridge with electronic measuring equipment. Lastly, they built two simulation models with Autodesk Inventor and Dassault Systèmes SolidWorks. From the comparisons of above three methods, students were guided to the validation of assumptions of theories.Cockrell School of Engineerin

Printing Embedded Circuits

Automated manufacturing technologies such as freeform fabrication can greatly reduce the cost and complexity of infrastructure required to manufacture unique devices or invent new technologies. Multi-material freeform fabrication processes under development have the potential to automatically build complete functional devices including electronics. Making this technology available to creative individuals will revolutionize art and invention, but requires extensive simplification and cost reduction of what is still a laboratory technology. The combination of a Fab@Home Model 1 personal fabrication system and commercially available materials allows the demonstration of simple and inexpensive freeform fabrication of functional embedded electrical circuits, and useful devices. Using this approach, we have been able to demonstrate an LED flashlight, functional printed circuit boards in 2-dimensions and 3- dimensions that are actually entirely printed, and a child’s toy with embedded circuitry. These results, and the materials and methods involved in producing them will be presented in detail.Mechanical Engineerin

Development of a Novel MultiBody Mechatronic Model for Five-Axis CNC Machine Tool

The paper presents the development of a mechatronic hybrid model for Geiss five-axis CNC machine tool using MultiBody-System (MBS) approach. The motion control systems comprising electrical and mechanical elements are analyzed and modeled. The 3D assembly of the machine tool is built in SolidWorks and exported into SimMechanics which interfaces seamlessly with SimPowerSystems, SimDriveline, and Simulink packages. CNC machine tools are mechatronic systems incorporating non-linearities so the proposed multibody mechatronic model (which considers the coupling of elastic mechanical structures with the control systems) represents accurately the dynamic behaviour of the actual machine by using only one simulation environment

Automation of technological preparation of metal working on heavy machine tools

The programs for selection of the cutting tools construction and cutting regimes are working in unrestricted surroundings elaborate of addition SharpDevelop in language C#. By the appendix of Cosmos of the program SolidWorks the areas of plate break-age and tensions distributing arising up in it at the different values of cutting force are certain. Based on the conducted researches of durability the rational structural parameters of collapsible chisels, in particular, thickness of plate are grounded that provides the increase of efficiency of treatment of details a hard-alloy instrument on the heavy machine tool