Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Modeling and Simulation of a Small Size Robot Kicking Mechanism
Submission Author:
Reynaldo Santos de Lima , SP
Co-Authors:
Reynaldo Santos de Lima, Daniela Vacarini de Faria, Luiz Carlos Góes, Marcos Maximo
Presenter: Reynaldo Santos de Lima
doi://10.26678/ABCM.COBEM2021.COB2021-0888
Abstract
In this paper, we present the mathematical modeling and design of a kicking device for Small Size League robots. The modeling was based on energy flow analysis of different domains, as the system is a solenoid with moving ferromagnetic plunger and, therefore, non-constant inductance. The plunger’s movement (mechanical system) is damped, retained with an elastic, and has its movement driven by a force resulting from the electrical current on the solenoid. On the other hand, the current flowing in the solenoid (electrical system) depends on the position of the plunger inside the solenoid, as a result of the influence on the solenoid’s inductance. Thus, it is highlighted how magnetic interaction bonds the mechanical and electrical systems with a bond-graph, using a transducer common to this type of system. It is also noted that, for the studied model, the solenoid coil length (on the moving direction) is wider than the plunger, which provides a constant inductance for a short interval of time. These considerations and deductions are, finally, resumed in a system of ordinary differential equations. The mathematical model constructed was then simulated with numerical integration in MATLAB Simulink, highlighting the speed that a ball is expected to have after its collision with the moving solenoid plunger as a function of the amount of time the electrical circuit remained active. The parameters used for the integration are listed, some of which are design values of components and others are assumptions based on similar situations to the studied model and expected undesired effects, such as Columbian friction. The result is compared with three data points, usual options used in game to kick the ball, showing a good prediction by the model. In summary, the contribution of this work is providing a mathematical model of the kicking device which we expect to be more clear around energy transference between systems than previous models.
Keywords
Solenoid, Kicking mechanism, modeling, Simulation, Robotics, Electromechanical device
