Final Design

FUNCTIONAL REQUIREMENTS

• The pivot of the pendulum must vibrate in any 2D direction (360°)  

• The direction of oscillation must change in < 100ms

• The mechanism must be contained within a ½ x ½ x ½ meter cube

• The mechanism must return the angular position and velocity of the pendulum in real-time

• Implement control algorithm provided by Daniel Ochoa Tamayo vertically stabilizing pendulum from rest

DESIGN 2

Design 2 is a scotch-yoke-inspired mechanism that aims to achieve the functional requirements while optimizing for:

1. Maximum reliability and longevity

2. Minimum friction

3. Minimum undesired vibrations

4. Data collection

Design 2 consists of a servo to adjust the angle of the entire mechanism. A motor is used to generate rotational motion of a smaller disk with a pin. This pin connects to a carriage that rides in a V-shaped track that slides on polished guiding rods. This generates a linear oscillating motion of the track, upon which an encoder and pendulum are mounted.

Figure 2:  Layout of Design 2. A servo motor is mounted on the back of the motor mount and is used to rotate the entire mechanism. A brushless motor rotates the magenta disk behind the red track  which is meshed with the yellow carriage. The carriage runs within the track, which is mounted on polished guiding rods within the blue frame assembly. The track oscillates along the rods and the encoder mounted on the track reads the position of the green pendulum and sends that information to the controller to adjust the angle of the mechanism.