ME 370 : Adams Lab.

: 2021 : Session 10

Problem 1
Mass of link 1 is 10 kg
The following pages contain:
Length of link 1 (in mm)
Length of link 2 (in mm)
Mass of link 2 (in kg)

Rotate Link 1 at 30 degree/sec anti-clockwise for 2

complete revolutions. Use PID Control kit to control the
torque applied at Joint B such that angular deviation of link
2 from its initial (vertical) orientation is between 0.9 and 1.1
degrees. Proportional gain must be less than 7. Integral and
derivative gain can be set to any value.

Plot 1: Horizontal displacement of centre of mass of link 2

Plot 2: Deviation of link 2 from vertical position

Problem 2
The figure shows two boxes (each edge 1 m) and masses A and B kg separated by 10 m. They
are constrained to move in the global X direction. There is no friction between body 2 and
ground. Body 2 moves with a velocity of 10 m/s. A and B are specified in the following pages.
A force is applied on body 1 in the horizontal direction such that it approaches body 2.
This force needs to be controlled with the help of the control kit, so that the distance between
the two bodies varies between 3 and 5 m. Contact between the bodies (if any) needs to be
detected by specifying contact properties.
Plot 3: Distance between the two bodies

Repeat the previous exercise by specifying velocity instead of force to body 1.

Plot 4: Distance between the two bodies

Remove the contact property between 2 bodies. Now, tune the force such that bodies do not
come in contact and settle down to a distance in the range of 3 to 5 m.
Plot 5: Distance between the two bodies

Prepare a PDF file with the filename <S10_RollNumber.pdf>.

The file should contain the screenshots of isometric views of the mechanisms and the 5 plots.
Upload the file in Moodle/Shared folder within seven days of the deadline for submission of S9.
 Link 1 Link 2 Link 2
Roll Number Name length length mass A B
170100050 Shikhar Agrawal 2034 4380 6 6 7
180010006 Akhilesh Anand Katdare 2287 3920 4 7 7
180020003 Aayam Ayan 1569 4345 7 7 2
180020017 Apoorva Agarwal 2000 3539 6 4 2
180020037 Himanshu Sandeep Neema 1894 3567 3 6 7
180020059 Nikhil Patni 2362 3615 2 2 7
180020087 Sahil Jain 1542 3518 4 6 2
180020099 Shaikh Md. Nadeem Nizam 1742 4444 4 7 5
180020103 Shravan Devendra Godse 2167 4062 6 5 2
180020110 Tanul Gupta 2251 4073 7 4 2
180040012 Ankit Kumar 1536 3687 5 7 4
180040017 Apoorv Giriya 2170 3918 5 5 5
180040019 Arpit Saxena 2322 4125 7 5 6
180040049 Kalpesh Sanjay Rathi 1716 4468 2 6 2
180040100 Shubham Agrawal 2119 4066 6 2 4
180100001 Abhilekh Sharma 1635 4389 6 5 3
180100002 Abhinav Apurva 2219 3862 7 3 4
180100003 Abhishek Raghuvanshi 2115 3651 7 4 2
180100004 Abhishek Soni 2190 3710 3 6 3
180100005 Abir Mehta 2458 3754 6 2 6
180100006 Aditi Raj 2131 3945 7 4 6
180100007 Aditya Iyengar 2422 4459 4 2 7
180100008 Advait Dnyanesh Padaval 1669 4286 3 4 6
180100009 Ahmed Uvais A B 2309 4023 7 3 7
180100010 Alluri Rohit Rushil 2445 3876 4 5 4
180100011 Alwin Tom Jose 2358 3888 7 5 3
180100012 Aman Dinkar Malekar 2471 3933 5 4 4
180100014 Ankit Kumar 1621 4400 4 2 6
180100015 Anukriti Dehgal 2377 3665 7 7 2
180100016 Arjun Kulshrestha 2111 4040 6 7 5
180100017 Aryan Chirania 1963 3645 2 5 2
180100018 Ashay Arun Veer 2000 3875 6 7 4
180100019 Ashish Kailas Jadhav 1778 4072 7 5 3
180100020 Ashish Kumar 2089 3588 3 6 2
180100021 Ashish Kumar Gupta 1649 3899 7 3 7
180100022 Atishay Jain 1676 3541 2 4 4
180100023 Avish Avinash Wagde 2303 3670 6 5 7
180100024 Balivada Sahasriya 1575 4221 7 5 6
180100025 Balla Sarat Chandra 1926 4436 3 6 5
180100026 Banoth Anand Nayak 2017 4164 7 5 4
180100027 Barath Krishna S 1551 3533 6 3 3
180100028 Battina Abhigna 1934 3745 7 6 6
180100029 Burra Srihith Bharadwaj 1593 4183 2 3 3
180100030 Deepak Harshal Nagle 1989 4047 7 5 6
180100031 Deepak Verma 2345 4207 6 6 4
180100033 Devansh Arya 2212 4487 2 6 3
180100035 Devendra Chouhan 2249 4346 5 7 7
180100036 Devsingh Lakavath 2235 3823 2 2 2
180100037 Dhammadeep Kalichand Karmankar 1901 4036 4 2 3
180100038 Dharmavarapu Lalit Kumar Sai 1612 4198 6 2 2
180100039 Dhruv Yadav 1813 3550 5 3 5
180100040 Divyansh Srivastava 2128 3626 2 3 7
180100041 Dnyandeep Chandrashekhar Kale 1557 3585 2 7 4
180100042 Duggirala Ramya 2312 3931 5 5 4
180100043 Gagan Jain 2228 3785 4 3 6
180100044 Gerard Tony Thomas 1766 4030 6 7 4
180100045 Guguloth Suresh 1611 4075 5 6 3
180100046 Gurdit Singh Gurdip Singh Vohra 1535 4236 3 2 4
180100047 Harshit Garg 1754 3557 3 5 7
180100048 Harshith Reddy A 2351 4238 7 4 3
180100049 Hemanth Dontamsetti 2030 4280 7 6 7
180100050 Hemantkumar Dilip Gidewar 1618 3596 5 5 2
180100051 Himanshu Kumar 2451 4369 5 5 2
180100052 Hitansh Chandra 1814 4284 7 2 2
180100053 Hitesh Wadhwani 2042 4309 2 7 7
180100054 Isha Rathoria 2017 4229 2 7 3
180100056 Kartikey Agrawal 2086 4075 4 3 2
180100057 Katukoju Sushanth 1889 4407 3 5 3
180100058 Keerthan Ramesh 2072 4022 4 6 6
180100059 Kratik Bhadoriya 1892 4240 2 3 6
180100060 Kritti Sharma 2187 4194 3 3 2
180100061 Kusuma Deepankar Sakya 1982 4325 6 2 4
180100062 Latika Jitendrakumar Patel 2093 3635 7 7 6
180100063 Manan Kumar Garg 1915 3657 3 5 6
180100064 Manav Bimal Pillai 1971 3540 5 4 4
180100065 Manikanta Kilaparthi 2418 3893 4 3 3
180100066 Misari Piyush Bhanani 2232 4214 7 3 3
180100067 Mitalee Rajendrakumar Oza 2407 4035 2 2 2
180100068 Mohammed Khaja Ghouse Mohiuddin 1594 3813 7 4 6
180100069 Mohammed Najmus Saquib 1561 4466 6 6 6
180100070 Mudavath Shanmukh 2353 4340 3 7 4
180100072 Nandagopal Vidhu 1795 4166 7 3 7
180100073 Neha Maanju 1559 3944 2 6 3
180100074 Nuthalapati Jeeth Siril 2354 4378 5 4 4
180100075 Padishala Prajyoth Kumar 2451 4241 6 5 6
180100076 Parth Tawarawala 1610 3936 5 5 3
180100077 Parul Agarwal 2113 4048 7 2 3
180100078 Patel Vijayantmonu Narendrakumar 1564 4113 7 2 7
180100079 Pathloth Vinay Rathod 1885 4031 2 4 5
180100081 Polamreddy Mithun Balram 1952 4490 6 6 5
180100082 Prakhar Karkhur 2178 3812 5 3 3
180100084 Praneet Dayanand Nayak 1875 4093 7 6 4
180100085 Pranjal Arvind Singh 1889 3527 2 6 6
180100086 Prasann Jaiswal 2398 3696 2 7 6
180100087 Prateek Jajodia 1653 4025 7 5 4
180100088 Prayas Jain 1520 3550 2 2 3
180100089 Pritam Kumar 2311 4328 4 3 7
180100090 Raghav Gupta 1856 4367 3 2 6
180100092 Ravi Kumar Meena 1981 3715 5 7 6
180100093 Rishabh Niranjan Ranjan 1811 3573 6 6 5
180100094 Rishabh Singh Dodeja 2249 4400 4 5 4
180100095 Rishab Khantwal 1698 3774 3 3 2
180100096 Ritika Sankhala 2443 4099 3 7 6
180100098 Ritwik Sudesh Kadu 2309 4270 4 3 5
180100099 Robin Singh 2114 4496 6 6 3
180100100 Saksham Garg 1873 3821 7 5 2
180100101 Sameer Dhruw 2029 4073 6 5 7
180100102 Sarthak Mukul Barhanpure 1803 3955 4 3 7
180100103 Saurabh Verma 1611 4105 5 7 3
180100104 Saurav Kartik Sah 2340 3628 3 4 2
180100105 Shaktiswaraj Sahoo 1645 3544 3 3 7
180100106 Shashank Moreshwar Raut 1547 4403 6 2 4
180100107 Shashwat Anand 2359 4485 2 2 5
180100108 Shaurya Arora 2329 4394 5 6 4
180100109 Shivansh 2037 4264 7 7 4
180100110 Shivansh Bhardwaj 2356 4498 2 7 2
180100111 Shivendra Kumar 2128 3557 4 5 5
180100112 Shri Ishwaryaa S V 2401 4120 7 4 5
180100113 Sipra Sonali Pradhan 2118 4153 7 3 4
180100114 Sonu Kumar 2300 4063 6 2 5
180100115 Sudhanshu Sahil 2222 4094 3 2 4
180100116 Sunil Chandel 2254 4218 3 7 7
180100117 Sunil Darwal 2287 4326 4 3 2
180100118 Tejas Sanju Pawar 1711 4255 4 4 6
180100119 Tushar Sujit Patil 2080 3652 6 7 5
180100120 Utkarsh Sahu 2496 4028 6 2 2
180100121 Vaishali Vijay Boudh 1915 4158 4 2 2
180100122 Vangapandu Venkata Satya Sai Krishna Hogesh 2133 3643 7 5 6
180100123 Vankala N Sai Krishna Kumar 2045 4203 6 6 5
180100124 Varun Jha 2394 4036 4 4 6
180100126 Vechha Prasanna Kumar 2445 3748 6 5 7
180100127 Vedant Sanjay Bang 1652 4068 7 4 3
180100128 V Sai Yeshwanth 2136 4217 2 4 7
180100129 Yash Pajvani 1711 3910 7 4 2
180110012 Anuj Agrawal 2406 4098 2 5 4
180110017 Atharva Abhijeet Deshpande 1779 4361 5 3 6
180110020 Bele Prathmesh Pravinrao 1798 4282 6 3 3
180110024 Darade Vaibhav Vinayakrao 2310 3521 7 5 4
180110089 Toraskar Atharv Ravindra 2256 4141 4 2 2
180110097 Yashika Gupta 1659 4313 4 5 4
18B030018 Prasanna Vivek Telawane 1835 3948 3 3 6
18B030028 Shivansh Sharma 2146 3792 4 5 5
18B030032 Swapnil Ghosh 2115 3539 4 4 5
18D100002 Akanksha Rohit 1939 3616 2 3 5
18D100003 Akshat Shriwas 2168 3642 4 4 3
18D100004 Amey Praphull Kavade 1655 3527 3 6 5
18D100005 Anshul Gupta 2374 3792 5 4 3
18D100007 Bhavini Jeloka 2046 4064 2 5 2
18D100008 Chaitanya Ashish Johari 1618 3900 4 4 5
18D100010 Durgaraj Sriram 2262 4433 2 7 6
18D100011 Mansi Singhai 1655 3788 4 5 5
18D100012 Mitesh Ajay Pawar 1981 3963 3 5 2
18D100013 Om Ravindra Ingole 1660 4131 6 7 3
18D100015 Prajjawal Singh 1966 4107 5 6 4
18D100018 Shardul Burde 1798 4385 2 6 6
18D100019 Shaswat Gupta 1980 3624 7 3 2
18D100020 Shubham Lohiya 1937 4371 4 6 2
18D100021 Sudhanshu Dharmapal Meshram 2499 4146 5 5 5
18D100022 Vanshika Gupta 2365 3992 4 3 5
18D100023 Vikrant Prasad Rangnekar 1562 3724 4 6 2
18D100024 Viren Dipakkumar Parmar 2424 4221 5 3 7
18D110014 Aniket Ghosh 1537 4450 2 3 3
18D170027 Rateesh Ajit Sabde 1672 4395 5 4 3
18D180027 Somya Singh 1524 3570 5 4 4