Final Design

* In-dept analysis on how all the components were chosen can be found on the report below

Design

Requirements

•  Module needs to accommodate up to 32 MEMS sensors

•  Static positioning of 0G, 1G, and -1G (see Figure below)

•  Static testing on all 3 axes in 2 seconds

•  Constant Rotational Velocity of 600 degrees per second (100 RPM) for 15 degrees of rotation

•  Dynamic testing on all 3 axes in 3 seconds

•  Operate in temperature range of - 60°C to 160°C

•  Position Accuracy of 0.2°

•  Velocity Accuracy of 2%

•  17.6” x 6.5”, 3kg MEMS platform

Motors

• Inside

  • Control Techniques - XV Servo motors

    • Continuous Torque: 1.91Nm

  • Encoder

    • Incremental encoder

  • Power

    • 240VAC, 7.5Amp

• Outside

  • Control Techniques - XV Servo motors

    • Continuous Torque: 6.11 Nm 

    • Gearhead

      • Ratio: 4:1

      • Gearbox efficiency: ~80%

  • Encoder

    • Incremental encoder

  • Power

    • 240VAC, 7.5Amp

Drivers/Controllers

• Copley Controls - Xenus XSL 

  • RS232 serial communication with PC

  • Encoder feedback 

  • 240VAC main power

  • 24VAC auxiliary power

  • CAN Bus Master-Slave communication

BOM

• 3/8" thick Aluminum Plate 6061-T6 4' x 4'

  • Inside and outside motor housing

    • Side

    • Mount

  • Platform

• 1/4" thick Hot Rolled Steel Plate 1' x 2'

  • Side flanges

• 2" x 4" Aluminum Flat bar 6061-T6 4'

  • Support

  • Platform mount

• 1" DIA precision steel shaft 4'

• 4 x 1" DIA plain steel ball bearing 

Static Test Animation

• Static Testing

  1. x=0g;     y=0g;     z=1g

  2. x=0g;     y=1g;     z=0g

  3. x=0g;     y=0g;     z=-1g

  4. x=0g,     y=-1g,    z=0g

  5. x=-1g;    y=0g;     z=0g

  6. x=0g;     y=0g;     z=-1g

  7. x=1g;     y=0g;     z=0g

Design Process