IntroImage Laboratory

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Laborartory and Workshop

The Laboratory

The equipment of the Institute of Mechanics and Mechatronics includes several (real and virtual) laboratories and a workshop. These facilities support teaching of theoretical and practical content, and are also in use for the implementation of projects with external partners, as well as internal research objectives.

The variety of laboratories ranges from control engineering experimental arrangements on machine and dynamic driving test benches to complex measuring devices for the characterization of sensors and actuators, as well as the determination of material properties.
 

Laborpicture DMS-Versuchsstand

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Foto: Laboratory (DMS Versuchsstand)

Laborpicture Flexible Joint

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Foto: virtual Laboratory (Flexible Joint Webexperiment)

The Workshop

In addition, the research division has a modern workshop, which can produce experimental set-ups and prototypes with precision, both in teaching and in research projects.

The equipment pool of the institute workshop includes lathes, milling and drilling machines in different models and equipment. Thereby, but also thanks to the great craftsmanship of the employees, custom-made solutions can be fabricated, in most cases ourselves, as they are again and again needed in thecontext of scientific projects at the Institute.

Laborpicture Fräse Deckel

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Foto: Fräse Deckel FP4

Laborpicture Drehbank Weiler

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Foto: Drehbank Weiler

Our Experiments (Selection)

Laboratory Experiment Rotary Inverted Pendulum

The initial position of the rotationally inverse pendulum is a non-linear state that is modeled with Lagrange equations. A servo drive drives an oscillating arm, at the end of which a freely rotating pendulum is mounted. The two degrees of freedom of the pendulum are the yaw angle θ of the swing arm and the pendulum angle α. The goal is an upward broomstick-like pendulum balanced in the palm of your hand.

Challenge for the study

  • stabilization of the pendulum
  • robust design in relation to the angle α
  • robust design in terms of angle θ

Courses

Contact

Laboratory Experiment Rotary Flexible Joint

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This laboratory experiment consists of an arm, springs and a rotary servo base unit. The arm is connected to the base via a link and the springs create an elastic torque between the arm and the base. The aim of the experiment is to move the arm to a vibration-free end position after (for example) a quick rotation. Since this should not be done with the help of sensors, but by a model, this method is called feedforward control.

For detailed information see > Presentation of Flexible Joint, opens a file in a new window

Challenge for the study

  • Understand the concept of feedforward control
  • Arm position tracking
  • Noise suppression when swinging the arm (damping)

Application in practice

  • Control of robotic arms
  • Flexible connection on a robot or on a spacecraft

Courses

Contact

Laborpicture Flexible Joint

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This virtual web experiment is a development of the research area Control Engineering and Process Automation. As in the previous experiment, the aim of the experiment is to suppress the oscillation of an arm after a rotation.

Link web experiment > virtual Flexible Joint, opens an external URL in a new window

Challenge for the study

  • Understand the concept of feedforward control
  • Arm position tracking
  • Noise suppression when swinging the arm (damping)

Application in practice

  • Control of robotic arms
  • Flexible connection on a robot or on a spacecraft

Courses

Contact

Teaserpicture Magnetic Levitation

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The principle of magnetic levitation (MagLev) is that a ferromagnetic body should be kept in levitation by an electromagnet. The force exerted by the electromagnet on the respective body depends primarily on the distance between the body and the magnet and the current flowing through the coil. The counterpart to the magnetic force is gravity, which wants to pull the body to the ground. For detailed information see > Presentation on Maglev

For detailed information see > > Presentation Maglev, opens a file in a new window

Challenge for the study

  • Regulation of the position
  • Follow a trajectory
  • Estimating the position (Kallmann filter)

Application in practice

  • Maglev train
  • Magnetic bearings (MRI, magnetic resonance)

Courses

Contact