Homework 0x02: System Modeling

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This homework contains the analysis introducing the term project: a ball balancing platform. A 2x2 matrix is developed using kinetics and kinematics for a simplified system to define the relationship between motor torque, plate angular acceleration, and linear acceleration of the ball in one direction. These calculations simplify the system with the following major assumptions:

• Rotations of the platform are independent, thus modeled as two independent rotating beams.
• All bodies are rigid.
• 2D Kinematics: the motor lies in the same plane as the platform rotation it effects.
• Ball rolls without slipping.
• Masses of the servo arm and link are negligible.

Author

Tyler Olson

Date

April 21, 2021