MECHATRONIC SYSTEM DESIGN OF A BALL LAUNCHER MACHINE FOR SPEED AND ANTICIPATION TRAINING IN COMBAT SPORTS

This research work presents the design and development of a ball throwing machine using the V-methodology. The machine aims to automate one of the most common exercises in martial arts for the development of anticipation speed. Samples were taken from different athletes performing the exercise to determine the response requirements of the machine. The design was then conceptualised based on the required movements and the different ways of solving them. The idea of a thrower with horizontal and vertical movement and ball speed was proposed. The dimensions were estimated based on trends in human proportions and commercial elements such as the ball, wheels, motors, gears, etc. Once the sketch was clear, the system was modelled using CAD software. The next step was to calculate the actuator requirements to meet the needs identified in the first stage. Based on these requirements, commercially available actuators were selected along with their respective operating modules. The construction material was selected and the appropriate assembly was carried out, giving the physical properties to the CAD model. The physical dimensions of the parts were calculated and a structural analysis of the parts was carried out, making the necessary adjustments so that the parts could withstand the static and dynamic loads of the system. The various subsystems were built and tested. Once the mechanical subsystems had been validated, general assembly was carried out and the tracking system was mounted. Calibration was performed on the mechanical system and the tracking system was tested with a laser, allowing real-time tracking to be compared with the generated model and the actual position of the body part being tracked. A user interface was implemented where the randomness of speed and launch times could be selected, and launches could be tracked to verify that they were as requested. This completed the full validation of the system. The functional model was used to observe possible improvements and factors affecting the performance of the machine. The proposed ball launch machine allows for variation in the trajectory, speed, frequency and randomness of ball launches, thus personalising the triggering action in the athlete's training. In addition, the machine provides a training optimisation solution by automating an exercise that under normal conditions can be monotonous and ineffective depending on the expertise of the available training partner or lack thereof. The machine also allows for personalised training schedules and times, as the athlete can train alone.