UNIVERSITY oF THE WITWATERSRAND, JOHANNESBURG

SCHOOL OF MECHANICAL, INDUSTRIAL AND AERONAUTiCAL ENGiNEERING

Page A1-1
MECN3O12 - Mechatronics I {2O1O)

ASSIGNMENT

To be submitted bg 76:OO, Fri. 23

(144 Marks)

April

Question 1 (diagram)

Balancing
Anage

Threaded Spindle

\\

Sun's
rays

\r

\\.

\
Linear Actuator

Sensors

\.

with Helicol Screu

(i.e.

HelixJoinil

---\ \

-'\
Amplifier

C pin joints

Figure

Single-Axis Solar Tracker

---oOo---

2O1O

A:gtc.tutrE$a \
U,rt*''rx.,..-t:

r*- - i1
I

:i,t
.f-:--l

A.\'*r..o.

ll

i
1

'i:i
i ,i
i

51a\"-.,vi Tnet

Ii*

ir

-1

- -l

Fi

Ei'r-'r" ,, rj

o+\i -rl
orL- I

Xrr.. " 't'

t.!. .r"\tl:.r*r
L:_t a.lt'r . iC.',1,,

\*orJ-.

l"i,g".-.--

l\rr

\\l
,\

JX....\
-i*-ta.]a_-:__,.-

\
/

Bo\.r -;-.-a\o".*\oe

-'--tl\:t-r-!:g.s$-

V)

'

t-.

\.-'\ t\'\,.. r

9t.-.^J,o*: -) If

;zs" 'A'"r -

Ur^,:=Y q-lrlcf

o,\

'.\*
n\\

,.i"C\

\ ,-\ /\\^*r-t,r d,J

O\

d+<f o,^.r 1e* s$r ,**:

--r.

r4.3,

-.

ii

<- . ..\

'!,<.'

r{.r"-\ ,(}-<- Cux

cl---

.1

O\Kr LfY\a\Jr.r1g1\-,6rr rf

\{

tr'circ. tf

I:

.=

. ..-(t I

j.,r.. . i .;L-

-c"F;C

Uq

'.t

-- |t!*,

$ i*.-.Li=.u-.'+.:o*rjj,:

;Q-xs>)+ +a!as

,a-'
-> ts

F..

"t

'--'

1{5'O

@O.

..\

G\

.,

iF =r*^ 'qt
)

F,."--

-)

\>t,\e

?o .- \co .
=

= :!+c6O, q"{4\. 5s

= ".394 X!o' ...i

/u,- . \. .rz

o,s .to,'r)Cu t) . G.s)G,s)',j'

= \, 666 ar\q = (-\-\-r). t-,^a.v . t@

<4

t.$4^\#

.Fq=

,
- e,oo 5, ':+Dc

A"+i4 ,

e.j9
,q45i - ,*

iv ,) 2rr;t= L-.nt \ r-*

\r,^ [ \c;'\dr*
, r1 'tB - t\-t-,n.

\r,.(+G .

:' l!*t f"'"t'"'

= g?,|,-l(xdr-r
l-F=o

Fto

- Fo.-

Ft -

*@

I tra"Q--V!'

'

L(-h\L)
Vm\ *

A'*

*l

-1

V"^

I $..-.t, \Ut

r<'*Qh'

E\\p \pzr^..r,-+

Lco.')r)'t\ o*!r

'#=*

^r-r

^*

+&,

f,',3b46-f.io

r'tKl).

dFeg =6;

|t.3gA}.rot s...g - \,tt6-.rt- 4{r\,6.cre '- 33.r.)Crrd1f+2,-ly4btrioe aO

.\
V

-\- o.t*
E
.. .,
6^ orc\.^L*o)
=

:. \, rAg'

f,trs+xro'4.^0,r+r,)-r. bcgs uF-4+rc,S <,r<Li,rq6)-38\f

': -sr,3u *1tstA4xJ,=a
- \,<ti 5g-().z - aB,l-l < t pa V +2/rc-t'grD6 = O
12=
:.k\,38b9

'''..
't) : -Ja\)Sn t-. J crr
-'. 'tr = abo,f \r,.^fl-u.
..

l,i

1t : -\-'1, b6 rr,:3+,.f!,
nlx

i)

rco s\ut<-

+4 lA,s

:r,ESA+iOo 5r- @,sr$

q: *t\Jb\

d6(g,F

:b3" r-r(

: D,51'\{
.a o,51 5'

t)

-3? tl6r,i$r

-1

x re1

-t fi *Lo3 I

i t6-z 6? x"roq

e- Cl.6L,)
.J

"t,

<

7n,65r..rj\ .s- lj =
2 \-l 3 ,,, ri

*Y,L*t
$.\/4,

.:s'1, b V-lh *

t.

tr^A {t-*r*,^
fl,= EF6\ ?*$r("& \6-

1^s

= s\1rle.e

11

':

,, .."
Ji
.,'!

'

-\*

<-n

-\!

- .\.3tt-l

i,1tr(

1,1r !' q!"Vy

D
\

,. , Jl-,r or,?\ .--l?.)S:!

t.;+-.

3
-t

'

,.

rt:

lr n*:
rn,
-vi-rw\uj

.. r,1;r I

a<

1.41ts

tq 't \,(i
\ t-

r-

E -iF=
tr'r!
'("

6q,6

\1,6'--l

{> ,n-\J

q.6t
\ i.r,^\ *\
= )&Qo53
i (.9 G y\L:
/ls
r
btbUr t)

iP

I,

| '.'. - . .-r .,-t

l\ ;+''''.t,3

{"tn: trcu

: i1,E %

--i f
,..': 1.

.)j
- c,':

---fr-

'

"i

T -o:

g 195,'^.a-

Q*.L^

i,-<x"\:rJJU
. ,,

,-/-\r\

as -(O _

__slsd
i-u:*:-'x""-&qs*r*5: g't*-Ls) ,-onlv)= q**-9)1-\\.i

-_---..

q*\}.o\t
--=9\'+{ c'
-,q.\:)u{ C. e--*\a\1

r. =a\r& q\

*'lP)
*^

i
I

Ertes.o

+t\J

Lo)

o"Le)

-*\*\\

]
;

olr

tersrt<-r

C\,)

sl*\ l*'e i'.ih(.""1 =l' t*\u*

1]cgds cr)- *
exLe-.)
oc.C.r )
,A\rlt"\qr
'_
,}:r\)$L &ttr-=I - *- .-g$-!d-* s"tC") g"\od
*Aq,\:*

s*e:::*s}::-

._*:$9_ !_=.*L\

.*]-{A

g*\*,d

*::!9*-.' tr)

[Ert,qcf

:*+ !:-9:h:*r*"ap
Lq
cn t\

b)

L\\J.&

"--\*\,J"

A,}.,,:^.

!)

-!..=1\!g

:*-$

q:\CIQ \*fu^
c-rii*enr-

c-r

ors

""

5\*) is\"p

_!N-}l._-c.(*tv,
C\\^$^t ct t\"*.-\*1

x.\,"^.\

:-

tr,)

U!_:-::) "4_:_:Jf

1ce)
onLP)

J:t=*i

*-\"o"\

t*5 .*\+J

e*\*.\

e-g\,'-\^r c. Q^f\a_**UJJ

{rttL\J)

L{**A}. L 1-q,)\:b*&- :r Lo
' \

Q-g'rtrn

Si/z

\ry,Ct$\1c)_
{,$t*)rr

trr*>TsrO
"-*-*-:

C-1\,^,Ltr a1 e.rrL<,,r\:-*

\\)

EI\ENB

'r

\C.r <-tv''\c\r$i?)

-'-"-t

i c''-tot t*\\*- J-*.-*<")

C.fN.A*- Cr- t\1"\.**,U

)nLp)

- ..-'

g*i Lv)
(, \-. .,
( i^'

!'':'-'

\1

a.r

Uc^\w

E'=tro
e,*\'.^A
'* ''.,,-'d

.''

i'..,,r

;1g-'.,.i,r.

b) il

E-oe\**\,*:

Ct\.*&. \

t\rt' *L^

L.,l.*t.
\\- .-\
.'- \L
",.,\\

t.." afeP b*\.r fs \'tJ

i.i-\ a*i\L
Ct: , tO\*',- ..o\ oc,\-*fuJ
so,.^t'(r-

&

?.<6%-\-<-

o."J *'- t\"'-\-*1r"

g"-"''qt \- R^t $ *= ' r\*J"*

toP $\'^

\;^ & q
i,.I\ s\oe.

=$&*

a\J^' J W,"*
\L
Lt- ,^\*',\ t-\"" 1:r+
tJ'/- f{;teo

C*\

<-iAF{

ho, trtA6|,ffb<\A5-ytt

iS
;S
i:

\-.
iv:

""J

\s J-f*-A'
?'s64oo.q

Beco-ose

JW*^* ^'* t-'

JL T\.-

grJr."-,

',1

I
J

\*J-

-.

@oo

.4 \--;-;
\'r'
w-)

tt/\

\i

\e9R-'

,l
b_i:L

a
:..

B fun-* .Lqdr,"'.
*p itr** -" o.-*^.J,L

\ef\leqLot

t- .r.5.1 q-.q. \**.*L"o tt) ,b*.&.\,o*\ L'1-axis)

-d) ecqcnrrJo\-

R' * tl..'"\*Un*rl, "[ o'*',Ol]**s\o\.o^o\

L--ux'is)

(ett 3**.*)

l--

Do
@

-+

H,,\ix

: =r*r\ t"ror""e-,k J *r-.\"

S, '-> E-e\\c -5 u.,t\un

LU**.

c^

q.\\ &\*t")

*\;-qL^\

c)
i}.:.-

x-' \

\)

*?

\o\*\.

.\-\^.

->

$^occ

q*",,*,\*. ..,*g.J

\ **-

-.> A!g\.-

*&*

"EIxAt

-.

oi'\-. L\sp

S\*$*ts4:N\**-

t*$

$* AS* ''" *'\*

oqoa'W

&erJ<\s-

(p -> g,\A,"*. .^A.t t-

oo*

ES.r."\

*\\:.\r"'- \**\

a\.' 1 i' *\N \ .r^

\*^

u.\N..o^ ;

\"r$\*1^\ *i\o"

G^a$^NA6

$,a\\
''

tr&{6., ,-*-^.{Ah' s{' -.-.x:*rn1- t-o".L.

\"

*}o.*

edu^{<,

{waoN.,{{AEr

',\

t,*A \"