Teach the fundamentals of dynamics and control
The Linear Flexible Joint is a passive linear cart that connects to the Linear Servo Base Unit through a linear spring. As an implementation of the classical mass-damper-spring quadratic system, the linear flexible joint is an ideal textbook-type experiment. The experiment is useful in the study of vibration analysis and resonance.
CURRICULUM TOPICS PROVIDED
Modeling Topics
• Derivation of dynamic model using Lagrange
• State-space representation
• Parameter estimation
• Model validation
Control Topics
• Linear-quadratic regulator (LQR)
• Vibration control
SPECIFICATION
• Linear Flexible Joint cart (LFJC) mass: 0.22 kg
• LFJC weight mass: 0.13 kg
• LFJC dimensions (L x D x H): 10 x 14 x 12 cm
• Spring stiffness: 142 N/m
• Spring assembly mass: 0.145 kg
• Spring length: 29.0 cm
• LFJC encoder resolution (in quadrature): 4096 counts/rev
• LFJC with Pendulum option: pendulum encoder resolution (in quadrature): 4096 counts/rev
