DISEÑO MECATRÓNICO 50453010

TALLER 1 03/03/2022

1. The Figure shows a double pulley. Assuming small rotations and consider that the
mechanical system moves in a fluid that opposes the bob’s motion by a force of
viscous damping nature. Consider m1 = 0.6 kg, m2 = 1 kg, m3= 0.5 kg, k1 = 100 N/m,
k2 = 200 N/m, c = 150 N-s/m, R2=2 R1 = 0.4 m.
a) Derive the mathematical model using Lagrange equations and define the
transfer function (or transfer function matrix).
b) Calculate the natural frequencies.
c) Plot the step response of mass 3 motion.
d) Obtain the bode plot and identify the natural frequencies.
e) Develop the Simulink model and obtain the response for a force f = 120 sin(20t)
N

2. The figure shows a mechanical system. Knowing the mass of the rod mr = 0.6 kg, m
= 0.4 kg, l = 0.2 m, k1 = 110 N/m, k2 = 80 N/m, and c = 16 N-s/m.
a) Obtain the mathematical model (Using Lagrange or Newton approach)
b) Calculate the natural frequencies.
c) Plot the step response of mass 3 motion.
d) Obtain the bode plot and identify the natural frequencies.
e) Develop the Simulink model and obtain the response for a torque at the rod t =
120 sin(20t) Nm
3. The system in the Figure consists of a pulley, a mass, three rigid rods, and two
springs. Consider small motions and mass of the rod is mr.
a) Derive the mathematical model using Lagrange equations and define the
transfer function (or transfer function matrix).
b) Calculate the natural frequencies.
c) Plot the step response of free mass motion.
d) Obtain the bode plot and identify the natural frequencies.
e) Develop the Simulink model and obtain the response of the mass for a torque in
the pulley tp = 10 sin (10 t)

4. A single link of a robot arm is shown in Figure. The arm mass is m, and its center of
mass is located a distance L from the joint, which is driven by a motor torque Tm
through spur gears. As the arm motor rotates, the effect of the arm weight
generates an opposing torque that depends on the arm angle and is therefore
nonlinear.
 a) Define ranges for angle θ to obtain a torque load behavior independent of
response.
b) Obtain the transfer function (Using Lagrange or Newton approach) of the
system and the step response of arm rotation vs. motor torque.
c) Use MATLAB and SIMSCAPE to model the system.
d) If axis 3 has no longer considered as rigid and has a diameter D3 and length L3.
Which are the changes with the original system in terms of arm rotation step
response?

Ejercicios
1 2 3 3 4 4
m= 0.5 kg, k m= 0.8 kg, k IG2= IG4=0.4 IG2= IG4=0.06
= 80 N/m, l = 120 N/m, l Kg.m2, Kg.m2,
Código
= 0.4 m, R= = 0.2 m, R= IG1=IG3=0.2 IG1=IG3=0.03
0.3 m; 0.5 m; Kg.m2. N1= 2, Kg.m2. N1= 3,
mr=0.5 kg. mr=0.3 kg. N2=3. D3=40 N2=5. D3=60 cm,
cm, L3=1.5 m. L3=3 m.
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Usar en lo posible hojas blancas para la parte escrita y cálculos completos con letra clara. La
obtención de ecuaciones de movimiento puede realizarse con alternativa Newtoniana o
Lagrangiana. Especificar las funciones de MATLAB usadas. Colocar su nombre y código en todas las
hojas. Colocar gráficas con la leyenda y ejes correspondientes. Guardar EN UN SOLO ARCHIVO con
la siguiente ruta y formato:

Taller#DisMecatronico_Apellido.pdf