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Reactivation of a Six-Degree-of-Freedom Repeated Impact Machine Using Programmable Logical Controller (PLC)

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2011 ASEE Annual Conference & Exposition


Vancouver, BC

Publication Date

June 26, 2011

Start Date

June 26, 2011

End Date

June 29, 2011



Conference Session

Electrical and Computer Engineering Technology Projects and Applications

Tagged Division

Engineering Technology

Page Count


Page Numbers

22.1216.1 - 22.1216.11



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Paper Authors


Cheng Y. Lin Old Dominion University

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Cheng Y. Lin. Dr. Lin is a Professor and Program Director of Mechanical Engineering Technology at Old Dominion University. He received his Ph.D. of Mechanical Engineering from Texas A&M University in 1989, and is a registered Professional Engineer in Virginia. Dr. Lin has expertise in automation control, machine design, CAD/CAM, CNC, geometric dimensioning and tolerancing, and robotics. He has published sixteen journal papers in the areas of robotics.

He has been active in the technology application research and teaching training courses for Virginia's Applied Technology and Professional Development Center (VATPDC).

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REACTIVATION OF A SIX-DEGREE-OF-FREEDOM REPEATED IMPACT MACHINE USING PROGRAMMABLE LOGICAL CONTROLLER (PLC)[Abstract] Reactivation of a six-degree-of-freedom impact machine using Programmable LogicalControl (PLC) is presented in this paper. The dimension of the apparatus is approximately 13’high, 10’ wide and 10’ deep. The apparatus is made of six magnetic aluminum rails which areconnected with a triangular platform, with each rail supports the linear motion of four thrusttubes connected in series. The motion of each thrust tube is powered and controlled by anindustrial amplifier, which can store sixteen pre-set motion profiles including the parameterssuch as accelerations, speeds, traveling distances, electrical currents, etc. The college receivedthis machine as a gift, but without a controller for the machine. Therefore, this presentation is todemonstrate the use of a PLC controller to reactivate the machine. For each motion of themachine, a PLC program is developed to send the signals to activate one of the preset sixteenmotion profiles to all twenty four amplifiers simultaneously. The traveling at each rail can beprogrammed so that the machine can generate a repeated linear motion and three angularmotions: roll, pitch, and yaw on the triangular platform. The apparatus can lift a testing article,which is placed on the triangular platform, weighted up to 400 lbs. For linear motion, themachine can generate an impact force up to ten G’s. The output data are the histories of acceleration and the impact load, collected from theaccelerometers attached on the testing article and the load cell mounted at the rubber-pad wherethe impact occurs. The readings of the accelerations and the impact force will be sent to a PC foranalysis through data acquisition device (USB 6251) and software provided by NationalInstrument (NI). Figures 1 and 2, shown in the attached second page, are the 6-DOF repeatedimpact machine and the information of G measured from an accelerometer. The full length paper will document in detail the hardware and the software that are includedin the system integration, implementation procedure, system calibration, testing results anddemonstrations. This apparatus not only supports biomechanics related research activities, butalso provides students opportunities to practice motion control, data acquisition, impact analysis,and PLC applications. This project was demonstrated at one of labs in the course of“Introduction of Robotics”. The following questions are used to assess the student’s learning inthis lab: a. What is the main functioning of each amplifier? b. Please explain how a PLC program controls the motion of the machine? c. What is the equation of impact? Based on the equation, can you increase the G during the same operation? d. What is the signal output from an accelerometer and a load cell? e. How to plot the output generated by NI hardware and software?Figure 1: The 6-DOF Repeated Impact MachineFigure 2: Reading of G from the accelerometer.

Lin, C. Y. (2011, June), Reactivation of a Six-Degree-of-Freedom Repeated Impact Machine Using Programmable Logical Controller (PLC) Paper presented at 2011 ASEE Annual Conference & Exposition, Vancouver, BC. 10.18260/1-2--18633

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