How train turns in circular path?

Hi guys I come with the interesting question ‘How train takes a turn in curved path without differential gears like the automobiles???’

    In trains, the differential gears are not possible because there are large number of wheels present in each carriage of the train. Our mind blowing what can be there, simply the small idea behind this. We will see the whole idea below.

  Basically the train wheels are frustum in shape. It is running in the same manner when it is moving in the straight path. But If we want to turn it into right, the larger diameter of the frustum wheel should contact at the right side of the track and the smaller diameter should contact at the left side of the track. So, the right side wheel will cover more distance than the left side wheel due to smaller diameter in the left side. When the train takes the turn, the centrifugal force acts on the train to make the changes in the diameter of the wheels.

           

I hope that you have understand the concept which I am given. Still if you have some doubt, please free to contact me at marirenu141@gmail.com.

DIY Simulation of U Arm

DIY ROBOTICS TUTORIAL
Simulation of ‘U’ Arm using Arduino
- P.Mariselvan
  Volunteer Associate
  Aatrral Academy

Introduction:
‘U’ arm is the basic and least expensive robot arm. But it’s application area spans across many domains. In the tutorial below, I will show you how to easily make a working model of the ‘U’ arm with less expensive materials.
Materials Required:
 4mm Thick cardboard – x 1
 Servo motor – x 2
 L bends (It can be any material) – x 2
 Screw and nut pieces –x 8
 Bolt and nut – x 8
 Arduino Mega board – x1
 5v battery or SMPS(Switch Mode Power Supply)
 Male to male jumper wires – x 12
 Insulation tape – x 1
Theory:
Servo Motor:
Servo motor is used as an actuator in cars & robots. A circuit built inside the motor unit controls the shaft’s position, the shaft is connected to a system of gears which amplify the torque output. The circuit has a potentiometer which determines the amount of rotation of the shaft with respect to the electric signals given.
Procedure:
How to cut the cardboard:
a. Cut the cardboard by 13cm length and 7cm breadth
into single piece, mark the piece as 1.
b. Cut the cardboard by 15cm length and 4cm breadth
into two pieces with same dimension, mark the pieces
as 2 and 3.
c. Cut the cardboard by 20cm length and 4cm breadth
into two pieces with same dimension, mark the pieces
as 4 and 5.
d. Cut the cardboard like the image below into two
pieces. It should act as a joint between pieces 4 and
5.And mark these joints as 6 and 7.
e. All figure dimensions are in cm.
How to cut holes in these cardboard pieces:
Step1:
Take the cardboard piece marked as 1 and make holes like shown in the image below.
All dimensions are in cm
The hole I made is suitable for my L bend. So try to make the hole to suit your L bend. My L bend length is 5cm and height is 5cm. After that cut a piece of cardboard 3cm×3cm and glue that to the center of whole weight acting area. In the end make a hole in the cardboard piece and fix the servo horn that comes along with the servo motor.
Step 2:Next make holes like the image below for the cardboard pieces 2 and 3
Step 3:
Next make holes on the cardboard pieces 4 and 5 like the image below.
Step 4:
Next make holes on the cardboard pieces 6 and 7 in two joints as shown above in the figure.
Step 5:
To connect the servo with the upper arm we have to cut the extra
two cardboard pieces as shown in the image below and mark the
pieces as 8 and 9.
If the above link does not produce the actuation, cut the card
board into long pieces according to your need.
Time to Assemble the cardboard pieces:
Step1:
Take the cardboard pieces 1 and 2, L Bends. Join them as shown
in the figure 1.1 using screw and nut.
Step 2:
Take the cardboard pieces 2 and 3, join that using screw and
nuts in the L bend as shown figure 1.2.
Step 3:
Take the pieces 4,5,6 & 7, join them as shown in figure 1.3.
Step 4:
Take the two separate objects as we have made. And join them as shown in figure 1.4 using bolts and nuts , but don’t torque (tighten) them too much, so that the arm can move.
Step 5:
Finally, fix the servo motor as an actuator to actuate the arm. Place the motor as shown in figure 1.5 and join the pieces 8 and 9.
Step 6:
Place the whole setup in the servomotor1.
And fix the servo motor1 and the whole setup in the thermocole stand. It is the basement for whole setup.
Program for servo motors:
#include <Servo.h>
Servo myservo1;
Servo myservo2;
void setup()
{
myservo1.attach(9);
myservo2.attach(10);
Serial.begin(9600);
}
void loop()
{
for(int i=0;i<=180;i++)
{
myservo1.write(i);
Serial.println(i);
delay(10);
}
for(int i=80;i<=100;i++)
{
myservo2.write(i);
Serial.println(i);
delay(50);
}
delay(500);
for(int i=100;i<=140;i++)
{
myservo2.write(i);
Serial.println(i);
delay(50);
}
for(int i=180;i>=0;i--)
{
myservo1.write(i);
Serial.println(i);
delay(10);
}
for(int i=140;i>100;i--)
{
myservo2.write(i);
Serial.println(i);
delay(50);
}
delay(500);
for(int i=100;i>=80;i--)
{
myservo2.write(i);
Serial.println(i);
delay(50);
}
}
What does the program mean:
I. Here the actuator is the servo motor, if we use the servo motor in the program, it should be included in the library as #include<servo.h>.
II. The two names given for each servo motor as myservo1 and myservo2.
III. After that in the setup loop the pins are specified where to attach the servo motors to the digital pins. And serial.begin(9600) is used to see the values in the serial monitor.
IV. After that in the execution loop the program is written. It means first the angle of the servo motor1 is initialized as 0 degree. And the condition is checked, is it less than 180 degree? After that it executes commands inside the loop which means the servo shaft comes into 0 degree.
V. And it delays for a period of 10 milliseconds. And then the value stored is increment by 1. After that the condition is checked and it executes inside the loop. It goes on until the condition is true which means the angle of shaft rotates up to 180 degree.
VI. The same procedure followed for the servo motor2 as written in the program.
VII. After that it goes backward in the same manner.
VIII. Side by side we can see the degree of the rotation in the serial monitor.
Applications:
We can use this in any application depending upon your needs. Especially it’s used in assembly and welding operations. It can also lift loads programmatically. In the end effector you can use any actuator suitable to your application, with some changes in programming.
                                           Thanks for reading this tutorial
                              If you have any doubt, please feel free to contact at
                                           marirenu141@gmail.com
                                       I am ready to give you a clarification.
                                   
                               

Control of servo motor using arduino

Control of servo motor using arduino

Aim:

 To control the servo motor  using the arduino.

Components Required:

v    1×DC Servo motor

v 1×Arduino UNO

v 3×Jump wires-(3 Nos)

Theory:

Servo Motor:

          Servo motor is the combination of DC motor, potentiometer and gears. It consists three pins red colour wire pin is used for supplying voltage, black or brown wire pin is used to connect ground and white or yellow wire pin used to control of  shaft postion.

          Here by varying the PWM signals, We can precisely control the shaft postion. If you want to much more details about the servo motor working refer to Wikipedia.

How to give the connections:

Step1:

          Keep the arduino UNO along the cable and servo motor on the table.

Step2:

Ø Connect +5v pin to the red colour wire pin of the servo motor.

Ø Connect Gnd pin to the black or brown colour wire pin of the servo motor.

Ø Connect Digital pin 9( Or any PWM Pin) of the arduino to the white or brown wire pin of servo motor.

Step3:

        Run the program which is written below.

Program:

#include <Servo.h>

Servo myservo; 

int pos = 0;   

void setup() {

  myservo.attach(9); 

}

void loop() {

  for (pos = 0; pos <= 180; pos += 1) {

    myservo.write(pos);             

    delay(15);                      

  }

  for (pos = 180; pos >= 0; pos -= 1) {

    myservo.write(pos);             

    delay(15);                       

  }

}

What does the program say:

v Initialize the servo motor library function with <servo.h>

v    Name the servo as myservo.

v Initialize the position as zero.

v In setup function, it says that the servo is attached at 9^th digital pin.

v In loop function, the for loop gives control over the servo motor to rotate the shaft to 0 to 180 and  180 to 0.

Here when the program executed, the servo motor rotate to 180 degree and servo motor return to 0 degree.

                            

                      If you have any doubt,please free to contact me at marirenu141@gmail.com