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Seesaw

Electromechanical Control

The Seesaw module is ideal to introduce intermediate control concepts, involving dynamics and control similar to the inverted pendulum experiment. You can use it to demonstrate real-world control challenges related, for example, to the roll control in aircraft.

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Product Details

The Seesaw module consists of two long arms hinged onto a support fulcrum. The system is composed of precisely machined polycarbonate with a durable matte finish. The Seesaw rotates about the pivot axis on an instrumented fulcrum. The rotation axis is coupled to an encoder through a pinion-and-anti-backlash-gear system and is used to measure the Seesaw tilt angle.

  • High-resolution optical encoder to sense cart position
  • High-quality aluminum and precision-crafted parts
  • Easy-connect cables and connectors
  • Pendulum attachment supplied with Seesaw module (pendulum for the Seesaw Pendulum experiment must be purchased separately)
Dimensions (L x D x H) 112 cm x 20 cm x 40 cm
System mass (Seesaw and Linear Servo Base Unit together) 3.6 kg
Seesaw geartrain gear ratio 3
Angle range about flat horizontal surface ±11.5 deg
Distance from pivot to the Linear Servo Base Unit track 12.5 cm
Distance from pivot to COG 5.8 cm
Seesaw encoder resolution 0.0015 rad/count
Modeling Topics
  • Derivation of dynamic model using Lagrange
  • Linearization
Control Topics
  • State-space representation
  • Linear-quadratic regulator (LQR)
Dimensions (L x D x H) 112 cm x 20 cm x 40 cm
System mass (Seesaw and Linear Servo Base Unit together) 3.6 kg
Seesaw geartrain gear ratio 3
Angle range about flat horizontal surface ±11.5 deg
Distance from pivot to the Linear Servo Base Unit track 12.5 cm
Distance from pivot to COG 5.8 cm
Seesaw encoder resolution 0.0015 rad/count

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