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Mechatronics Motor Sizing Using LabVIEW and SolidWorks

This is a presentation showing in details how to use SolidWorks and LabVIEW collaboratively for motor sizing and trajectory planning

Uploaded by

Waleed El-Badry
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
254 views

Mechatronics Motor Sizing Using LabVIEW and SolidWorks

This is a presentation showing in details how to use SolidWorks and LabVIEW collaboratively for motor sizing and trajectory planning

Uploaded by

Waleed El-Badry
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 39

Motion control

Motor sizing

Waleed El-Badry
Senior PhD candidate
Mechatronics department
Ain shams university
Intended Learning Outcomes
What is expected to be learnt today?
After finishing this session, you are expected
to be able to

Configure solidworks for motion study.

Successfully connect solidworks to LabVIEW.

Set trajectory profile on LabVIEW


determine the maximum and rated torque to
achieve the applied trajectory

3
INSTRUCTOR’s LAPTOP

I. OS : Windows 10 Pro (x64).

II. Mechanical : SolidWORKS 2015 SP5.

III. UI : LabVIEW 2015 (32 bit).

IV. Trajectory : LabVIEW 2015 SoftMotion Module.

Tested also on windows 8.1


5
PART I: Configuring SolidWORKS
Learning by doing approach
Instructor will hand you a solidworks
model to follow his steps

7
Open solidworks model
[Simple ARM START]
View is optimized to reduce cpu loading
on laptop (mine at least )

8
Select motion study
[Motion Study LabVIEW]

Next, we will add motors


to mechanism

9
Add motor to each joint
[Motion Study LabVIEW]

Motion analysis must be enabled from


add-ins
Do the same for elbow
and wrist joints.

Adding Motor to a Joint (Shoulder)


Rename motor names (optional)

Each joint in
the arm will
have a
“rotary
motor”

12
Configure numerical calculation
To calculate power, torque and other
motion parameters, Solidworks needs to
adjust some parameters like
o Step size.
o 3d contact accuracy
o Simulation speed (fps)
Configure numerical calculation

Pay attention to ACCUARCY.


We will need its value when
setting labview solidworks “scan
engine”
TORQUE MEASUREMENT

Vmotor= const
TORQUE MEASUREMENT

Vmotor= f(t)
We are now ready for getting
connected to labview
PART II: Connecting to LabVIEW
LabVIEW Configuration
LabVIEW Configuration
LabVIEW Configuration
LabVIEW Configuration
LabVIEW Configuration
NOW it is time to pull your hair
out ( or the residue like mine)
SCAN ENGINE IS NOT RUNNING
Another TIP …
SCAN ENGINE TIME ERROR

Keep that
configuration
WHAT IS SCAN ENGINE ?
SCAN engine is the service
responsible for synchronizing
LabVIEW with solidworks after
each calculation step
SolidWORKS
LabVIEW
• Feedback Position
• Target Position
NI Scan Engine • Feedback Velocity
• Target Velocity
• Feedback Acceleration
• Target Acceleration
• Feedback Torque /Force

28
Attempt to fix scan engine
Bind labview motion axes to solidworks motors

30
Bind labview motion axes to solidworks motors

31
SCAN ENGINE IS RUNNING
PART III: Basic Motion Study
MOTION Study VIs

Used for setting trajectory profile


and target position

34
MOTION Study VIs

You should always use it to clear old


axis faults (initialization)

35
MOTION Study VIs

Reading position , velocity and


torque feedback

36
Exercise 1

37
Exercise 2

38
39

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