E

L2 /2
ME 5201 Mechatronics I, Winter 2021 A

m2 , L2 O2
L2 /4 K3
Problem 2 [50 points]
H
For the mechanical system shown in Fig. 2, the input is the appliedztorque τ (t) on rotor J1 . The moment
of inertia for the gear with a radius of R2 is J2 , while the moment of inertia for the gear with a radius
M4
of R3 is J3 . The mass of the rack is M , whose f2 (t) displacement is x.K4 The springs K3 , K4 and K5 are
B2
undeflected when x = 0. M3
Assume the contact force between gear J2 and Bgear 1
J3 is fc1 , and the contact force between gear J3
x1
and the rack M is fc2 .

(Hints: the gravitational force does not need to be considered ).

θ2 , ω2

R2
K1
θ1 , ω1 J2
τ (t) θ3 , ω3
J1
R3
K2
B1 J3

K4 K3
K5 M
x B2

Ting Zou, Postdoctoral Fellow

Figure Centre for Intelligent Machines, McGill University
2: Mechanical system for Problem 2

(a) [20 points] Draw the free-body diagrams of the rotor J1 , gear J2 , gear J3 and the rack M .

(b) [16 points] Based on the free-body diagrams obtained in (a), derive the equations of motion of the
mechanical system.

(c) [14 points] Based on the two equations of motion for J1 and J2 obtained in (b), draw the block
diagram for the motion of J1 and J2 .