Junior Design Final

Cylindrical

What type of bearing is this? _____________ roller bearing.

Servo

______ motors are used to control the orientation of the output shaft over a range of 0 to 180 degrees.

Servo

A _________ motor includes a motor AND encoder to control the shaft orientation based on an input command.

Resolution

The minimum possible motion in a drive. It is extremely important in a positioning system.

Resolution

An example of _____________ is if there are 360 steps per revolution, then the minimum angular change that can be commanded in one degree.

Repeatability

The closeness of the agreement between the results of successive identical commands carried out under the same conditions (same procedure, observer, instrument, and location over a short time period) in a drive.

Repeatability

An example of _____________ is if you command a single step five consecutive times in the same direction, do you get one degree steps each time?

Uncertainty

A parameter that characterizes the dispersion of the values that could reasonably be attributed to the drive result.

Uncertainty

An example of _________ is … how well do you know that 10 steps causes a 10 degree rotation? What accuracy do you require for your drive system in order to realize the robot functional requirements.

B

We used Type ___ Uncertainty for our project which is the evaluation of uncertainty by means other than the statistical analysis of series of observations (data collected from anything other than an experiment you perform). Standards performed by another laboratory for comparison is a good example. In our case, we have an equation which describes the our system position and inputs for our desired position as well as their individual uncertainties.

Load

You must consider the ______ that will be driven by the stepper motors in this project. They have a torque limit (which may be speed dependent) and your load cannot exceed this torque or you will stall the motor (it will SKIP steps).

Range

The ______ is the maximum distance that your drive must be able to accommodate.

Speed

The __________ can be faster for your robot, but may reduce the accuracy or repeatability.

Mass

As the _____ increases, the torque required to drive the mass increases.

Compliance

This means that a robot has flexibility in one or more of its joints.

Stepper

A __________ motor is a brushless DC electric motor that divides a full rotation of the output shaft into an equal number of steps.

Stepper

A __________ motor’s position is commanded to move and hold at a set step without any feedback sensor (it is an open-loop system because there is no feedback and steppers are generally less accurate than servo motors).

Unipolar

A _________ stepper motor 1 or 2 wires are the center tap that attaches to ground on the Arduino.

Bipolar

A ________ stepper motor has no ground wire and 2 wires attach to M1 or M3 on the Arduino board. The other 2 wires attach to M2 or M4. These wires are outer taps.

Stepper

A ___________ motor does not have an inherent home position.

Open

A stepper motor operates in _______-loop mode which means you command the position, but don’t get any feedback about whether that position was actually reached.

Stepper

When powering a __________ motor, it will begin to rotate from whatever position it was in when it turned off.

Close

A servo motor operated on a __________-loop control system due to the encoder feedback.

Servo

A ________ motor has three wires: power, ground, and signal.

Power

On a servo motor, the _________ wire is typically red and should be connected to the 5V pin on the Arduino board (marked as +).

Ground

On a servo motor, the _________ wire is typically black or brown and should be connected to a ground pin on the Arduino board (marked as -).

Signal

On a servo motor, the _________ wire is typically yellow, orange, or white and should be connected to a digital pin (9 or 10) on the Arduino board (the S pin).

Microswitch

A ____________ is an electric switch that is actuated by very little force through the use of a tipping-point mechanism.

Microswitch

A ___________ has a defining feature which is that a relatively small movement at the actuator button produces a relatively large movement at the electrical contacts.

Closed

On a microswitch, normally ____________ means the switch is closed unless the button is depressed. Then the circuit is open. Output from the switch.

Open

On a microswitch, normally ___________ means the switch is open unless the button is depressed. Then the circuit is completed. Output from the switch.

Common

On a microswitch, the _____________ pin provides input to the switch.

Driver

It is important to pay attention to the operating voltage of a _________ because, if the operating voltage is not supplied it will NOT turn on.

Setup

In the ________ loop of code, the code within this function will only run one time when power is applied to the Arduino.

Loop

In the void _______ function of the code, the code will run continuously as long as the Arduino has power.

pinMode

In code, ___________() allows you to declare a digital pin as either an input or output.

analogRead

In code, ____________() allows you to read a signal.

digitalWrite

In code, ____________() allows you to write either a “HIGH” or “LOW” to an output digital pin.

Serial.begin

In code, ______________ allows use of the Serial Monitor. This is useful for troubleshooting.

analogRead

In code, ____________(pin_num) allows an analog read from a designated analog pin.

analogWrite

In code, ____________(pin_num, value) allows an analog write to a certain analog pin.

digitalWrite

In code, ___________(pin_num, HIGH or LOW) allows a digital write of HIGH or LOW to a designated digital output pin.

digitalRead

In code, ____________(pin_num) allows a digital read from a designated digital input pin.

Delay

In code, ________(time) delays the program by a specified amount of time in milliseconds.

Library

A ___________ is a collection of prewritten codes that can be accessed when it is referenced.

Steppers

___________ use shaped gear-like magnets with corresponding coils to create stepwise movements.

Single

A common stepper takes 200 steps to complete a full rotation (1.8 deg / sec). This is called ________ stepping.

PWM

For stepper motors, a further resolution can be achieved by applying the coils with a _________ signal.

75

Dynamics torque is _____% of holding torque.

Decrease

For stepper motors, using anything other than single stepping will further _______________ the amount of torque your motor provides.

Slower

For stepper motors, anything other than single stepping the motor will cause it to rotate __________ that single step movements unless the rate at which pulses are given is increased.

Vibration

Stepper motors, just like every single other static or dynamic component are subject to __________.

Vibration

Stepper motors exhibit a potentially high amount of ___________ either when under no load or when they are run at their resonance frequency.

Servo

________ motors consist of a DC motor, a gearbox, and a feedback mechanism. A control circuit onboard performs PID control to move the output shaft to the input location.

High

Servo motors have a _________ accuracy and will attempt to maintain their position even when external forces are applied.

Integer

You must use _________ inputs for servo positions when using an arduino.

servo.writeMicroseconds

You can use _________________ to get better resolution for servo motors.

40

The Arduino Mega 2560 can provide _____ mA of current per pin.

200

The Arduino Mega 2560 can provide ___________ mA of current for the whole board.

5

The USB provides __ V to the Arduino.

Forward

You use ________________ kinematics to check inverse kinematics.

Torque

______________=(Moment of Inertia)\*(Angular Acceleration)

Inertia

To determine the required torque, we need to know the moment of _________ for the load that the motor will be driving (this depends on your design).

Acceleration

The angular _____________ represents the time rate of change of angular velocity (i.e. the motor rotating speed).

Uncertainty

In order to perform ______________ analysis on the robot, we use a first-order Taylor-Series expansion of two given equations.

68%

If you multiply uncertainty by a factor of 1, you can be _________ confident in your result.

95%

If you multiply uncertainty by a factor of 2, you can be _________ confident in your result.

99\.7%

If you multiply uncertainty by a factor of 3, you can be _________ confident in your result.

Gear

If the stepper resolution is not sufficient for a direct drive solution, you can use a _____ set to increase the resolution.

Directly

Running direct drive means the motor drives the link ____________.

Speed

Adding a gear set improves resolution and torque, however we sacrifice _______ in the process.

Reflected

_____________ inertia is the moment of inertia the motor “sees” through the gear set.

Meshing

The proper __________ of the teeth in gear-pairs is CRUCIAL for continuous power transmission.

Pressure

The most common ______ angles for gears are 20 and 14.5 degrees.

Pressure

The ____________ angle is the angle between the line of action and the tangent to the pitch circles of the gears.

T

For proper meshing, gears must have the same pressure angle (T/F).

T

For proper meshing, gears must have the same module (T/F).

Module

The _________ of a gear can be calculated by taking the pitch diameter and dividing by the number of teeth.

Backlash

___________ is the amount of lost motion when movement is reversed.

Backlash

In a pair of gears, _________ is the amount of clearance between mated gear teeth.

Repeatable

It is possible to compensate for backlash within the programming if ______________, however, it will most likely cause some amount of uncertainty.

Belt

A _______ drive can be used to transmit rotary motion (it may be toothed). It will obtain the same behavior as a gear set, but an offset must be accounted for and an axis is required for each pulley. Additionally, belt tension MUST be considered.

Bearings

__________________ and bushings are used to support shafts rotating through provided axes.

Bearing

A _________ is a contact surface through which a load is transmitted. When relative motion occurs, we attempt to minimize friction and wear.

Bearings

There are two basic types of _____________: slide and roller element.

Sliding

_________ bearings work by direct sliding of the load-carrying member on its support.

Roller

__________ element bearings have balls or rollers that are located between the sliding surfaces.

Sliding

Two types of ________ bearings: journal/sleeve bearings and thrust bearings.

Journal

___________, or sleeve bearings are perpendicular to the shaft axis and support radial loads. They are cylindrical.

Thrust

_________ bearings support loads in the direction of the shaft axis.

Bushing

For the sleeve bearing, when it is not split and is a single cylindrical shell that is pressed into a hole in a housing, it is referred to as a __________.

Strength

Due to the high amount of stress and small contact area, roller element bearings are made of high _____ materials.

Roller

________ bearing components include the inner and outer rings (races) and the balls/rollers.

Roller

Types of _______ bearings include radial (for radial loads), thrust (for axial loads), and angular contact (for combined radial and axial loads).

Roller

Compared to ball bearings, ________________ bearings can support heavy radial loads and limited axial loads.

Spherical

What type of bearing is this? ___________ roller bearing.

Tapered

What type of bearing is this? ___________ roller bearing.

Needle

What type of bearing is this? ___________ roller bearing.

Two

In most applications, ______ bearings support the rotating component in the equipment, one is the fixed or locating bearing and the other is the floating or non-locating bearing.

1

A Class ___ (Loose) Clearance Tolerance Fit is used where accuracy is not essential (like in building in mining).