Positioning Performance (Uncertainty)

It is essential that the uncertainty for every pick-up and drop hole is calculated to ensure the robot will
perform to its ability. To calculate the uncertainty of the holes, the angles of the rotary axes must be
determined by using the partial derivatives of Equation 10.1 and 10.2. After the angles have been
determined, they are used to calculate the uncertainty for each hole given the lengths of each rotary
axis. To achieve an exceptional uncertainty, Team 2 had to implement a gear ratio of 2.4:1. This gear
ratio was determined by the ratio of the diameters of the two gears. With this ratio and the degrees per
step of the stepper motor, the total degrees per step can be calculated. All of these values are inputted
into the uncertainty equations to get total X and Y uncertainty. The resultant of these values was
calculated from the Pythagorean Theorem as well. These values are displayed in Tables 3 and 4.

𝐸𝑞𝑢𝑎𝑡𝑖𝑜𝑛 4.1: 𝐴(𝑥) = 𝐿2 cos(𝜃1 ) + 𝐿2 cos(𝜃1 + 𝜃2 )

𝐸𝑞𝑢𝑎𝑡𝑖𝑜𝑛 4.2: 𝐴(𝑦) = 𝐿2 sin(𝜃1 ) + 𝐿2 sin(𝜃1 + 𝜃2 )

24 𝑇𝑒𝑒𝑡ℎ 1.528" 𝑃𝑖𝑡𝑐ℎ 𝐷𝑖𝑎𝑚𝑒𝑡𝑒𝑟

𝐺𝑒𝑎𝑟 𝑅𝑎𝑡𝑖𝑜 = = = 2.4
10 𝑇𝑒𝑒𝑡ℎ 0.637" 𝑃𝑖𝑡𝑐ℎ 𝐷𝑖𝑎𝑚𝑒𝑡𝑒𝑟

𝑑𝑒𝑔
𝑆𝑡𝑒𝑝𝑝𝑒𝑟 𝑀𝑜𝑡𝑜𝑟 𝐷𝑒𝑔𝑟𝑒𝑒 𝑝𝑒𝑟 𝑆𝑡𝑒𝑝 ∗ 2 0.9 𝑠𝑡𝑒𝑝 ∗ 2 𝑑𝑒𝑔𝑟𝑒𝑒𝑠
𝑇𝑜𝑡𝑎𝑙 𝐷𝑒𝑔𝑟𝑒𝑒𝑠 𝑃𝑒𝑟 𝑆𝑡𝑒𝑝: = = 0.75
𝐺𝑒𝑎𝑟 𝑅𝑎𝑡𝑖𝑜 2.4 𝑠𝑡𝑒𝑝

𝐸𝑞𝑢𝑎𝑡𝑖𝑜𝑛 4.3 (𝑃𝑦𝑡ℎ𝑎𝑔𝑜𝑟𝑒𝑎𝑛 𝑇ℎ𝑒𝑜𝑟𝑒𝑚): 𝑎2 + 𝑏 2 = 𝑐 2

Table 2: Pick-Up Hole Uncertainties (mm)

Hole # X-Direction Uncertainty Y-Direction Uncertainty Resultant

1 3.71 2.38 4.4

2 2.03 3.43 3.99

3 3.79 0.952 3.91

4 3.88 1.97 4.35

5 3.6 1.22 3.8

6 0.913 4.31 4.4

7 4.21 1.27 4.4

8 1.38 2.81 3.13

9 3.97 1.91 4.4

10 3.59 1.06 3.74

11 1.06 3.89 4.03

12 0.642 4.24 4.29

13 2.39 2.07 3.16

14 1.7 1.7 2.41

15 1.44 2.19 2.62

16 1.86 0.816 2.03

17 1.64 3.79 4.13

18 3.9 1.3 4.11

19 4.09 0.776 4.14

20 1.65 3.25 3.65

21 3.2 3.01 4.39

22 3.99 0.882 4.08

23 1.41 2.91 3.25

24 2.8 1.81 3.33

25 2.44 3.62 4.37

26 2.55 1.47 2.94

27 2.7 3.43 4.36

28 2.12 2.85 3.56

29 3.77 1.66 4.12

30 4.3 0.903 4.39

31 2.63 1.53 3.05

32 1.89 1.31 2.3

 33 1.77 3.15 3.61

34 1.78 0.946 2.82

35 1.74 1.36 2.21

36 1.84 0.823 2.02

Note: Max Uncertainties are highlighted in yellow.

Table 3: Drop Hole Uncertainties (mm)

Drop Hole X-Direction Uncertainty Y-Direction Uncertainty Resultant

1 2.35 1.79 2.96

2 2.24 2.70 3.52

3 1.83 3.76 4.18