Creating Precision Robots by Francis Nickols & Yueh-Jaw Lin

Author:Francis Nickols & Yueh-Jaw Lin [Nickols, Francis & Lin, Yueh-Jaw]
Language: eng
Format: epub
ISBN: 9780128157596
Publisher: Elsevier Science
Published: 2018-08-11T00:00:00+00:00

5.4 Hitting Constructional Design Features

The Hitting robot is a mechatronic system that uses a microcomputer controlled stepper motor to rotate directly a hitting arm. At the extremity of the arm is mounted a hitting pad. The pad strikes, and simultaneously imparts a precise force impulse to the ping-pong ball such that the ball is given an accurate launching velocity. The idea is to hit the ping-pong ball into waste paper baskets located at 2, 4, and 6 m range. In a highly simplified form, the Hitting robot hits the ping-pong ball much like a golfer swings a golf club to strike a golf ball at “tee off.” The golf ball is supported a few centimeters above the turf with a “tee.” The tee allows the swinging club to strike the ball below its horizontal center thus permitting an initial upward launching angle of approximately 20 degrees from the horizontal. The situation is more complicated since the golf ball will be given backspin that will cause the ball to “fly” using the Magnus effect. Nonetheless, such an angle turns out to be the optimum launch angle for a golf ball to achieve maximum range but for the ping-pong ball in our application, largely without spin, the optimum angle is 40 degrees. This is an interesting research area for students where they can consider redesigning their Hitting robot to emulate a golf club to give backspin.

The key features of the Hitting robot for striking the ping-pong ball accurately are:

(i) A rigidly mounted stepper motor that can be driven at an accurately controlled angular speed.

(ii) A tee for precisely positioning the ping-pong ball without impeding its launching velocity.

(iii) A rotating hitting arm of sufficient length with a hitting pad at its extremity.

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