Optimized Shuttlecock Propulsion Machine to

Facilitate Badminton Training

Muhammad Usman Aslam, Waqas Umer Draz, Hafiz Murtaza Mahmood Raja , Kamran
Department of Electical Engineering
University of Engineering and Technology, Lahore
usman.aslam@uet.edu.pk

Abstract – In this research, a shuttlecock propulsion

machine has been developed to facilitate an individual to
autonomously acquire rigorous training. The machine comprises
of a shuttlecock holder, a feeding mechanism, an ejecting
portion and a tripod stand. It utilizes flywheel mechanism in the
ejecting portion for the propulsion of a shuttlecock. The
shuttlecock holder consists of a PVC duct and ascends in an
inclined sequence to tilt the shuttlecocks with hemispherical
cork side over the feeding mechanism. The shuttlecock is
captured by the robotic jaw gripper and fed into the ejecting
portion. The flywheel diameter has been kept large enough to
store maximum inertia for the propulsion of shuttlecock. The
special feature of the machine is that it can move in multiple
axes. This machine design has optimized the speed of launching
a shuttlecock and can be manufactured at a reduced cost
compared to similar machines available in the market.
Index   Terms–   Propulsion   Machine,   Badminton   Training,
Shuttle Propulsion, Autonomous Badminton Training.

I. INTRODUCTION
Badminton is a high-speed game. It requires changes in
direction between each shot preferably thrown at varying
speeds. Therefore, badminton involves quick movements and
a swift response. Badminton is a fast game so tracking a
shuttlecock accurately is challenging work. On the other
hand, participating in sports could improves one’s life in
terms of physical fitness and mental health. Badminton is the
most sporting game in the world. On the report of Badminton
World Federation (BWF) evaluates, about 150 million people
play this sport around the world [1]. It is the fastest racket
sport in the world with shuttlecock speeds reaching up to
500kph [2] [3]. Robots have been developed to aid in the
practice of various sports, such as soccer, table tennis, and
badminton. It is a familiar sports that many people can enjoy
easily by being able to continue the rally comparatively easily.
On the other hand, as badminton is also an official event of
the Olympic Games, the initial speed of smash of the world’s
top players is
83 m/s (300 km/h), which is the fastest flying speed of balls
in ball games sports [4]. The shuttle used in badminton
consists of 16 blades of natural waterfowl such as
hemispherical cork and geese. The biggest feature of this is
the slow speed difference of flight speed due to large air
resistance force. At the time of smash, it was shot at an initial
speed of 67 m/s The shuttle slows down to a speed of around
7 m/s only 0.6 seconds after falling to the opposing court [5]
[4].
Fig. 1 Overview of the developed Project.
As we know that every country has its own preferences in the
types of games that it promotes and popularizes. Different
countries support and promote different games in their
country. This leads to young, enthusiastic and talented players
of that country competing with other countries on
international platforms. Sports, therefore, unite nations when
they back their players in international tournaments. Same is
the case with Pakistan. Pakistan has a good reputation in
different games especially in Cricket and hockey. But
unfortunately, Pakistan has not achieved the same success in
Badminton. A lack of funding to train players is one of the
reasons for this. Another reason why Badminton is not
represented by Pakistanis is a lack of clubs and effective
coaching. Whereas there are no such resources for badminton
players to practice badminton, this problem could be solved
by using automatic machines, designed to aid in badminton
coaching. Such machines would provide an opportunity to
practice and master important skills in this game. The
machine would be beneficial in areas where talented players
cannot afford professional coaching or imported machinery.
This machine would launch shuttlecocks at varying speeds
and in different directions providing the player with a
practice session that mimics a game with a professional or
experienced partner. In addition because the machine would
be manufactured locally, the cost would be considerably
reduced. The machine would not require any additional costs
such as electricity or fuel, therefore, it can train many players
at a given location. Pakistani players trained using this
machine, coming from all sorts of socioeconomic
backgrounds, could one day dream of participating in the
Olympics to represent their home country on an international
platform. Once developed and optimized, this automation
system could be modified to train for other high speed Sports
such as Cricket, Squash and Tennis.
. of designed machine was based on direct impact method
A. Literature Survey
As a previous study on badminton, the shuttle has a
complex shape and a large air resistance coefficient. Many
researches in the field of fluid dynamics have focused on
experiments to elucidate its aerodynamic characteristics,
flight characteristics, flight trajectory, etc [5] [6]. In the case
of athletes who do not have such a privileged environment,
exercises that substitute for practicing partners machine is
indispensable, traditionally a high performance badminton
training machine was eagerly awaited. By classifying the
badminton practice aircraft devised or prototyped up to now
according to the launch mechanism of the shuttle, there are
compressed air type, spring, crank type etc. [7] [8]. Over the
years, several techniques have been introduced for developing
badminton training robot some of the related work discussed
below.
In (2006) Kim Seng Chia et al proposed a Serving Operation
design for a Badminton Robot that served as human player.
This system has to be designed in such a way that it can load
six number of shuttlecocks at a time. It included a serving
mechanism which consists of a racquet that was designed to
swing to hit the shuttlecock. To transport shuttlecock rotor is
used near the hole of the stator. The main part of the feeder is
that it consists of a G15 Cube Servo. The proposed design is
capable to preload six shuttlecocks in inclined feeder and
serve continuously with a success serving the rate of 89% in a
standard badminton court when the time between swinging
the racquet and dropping a shuttlecock was optimized. [9]
In (2009) Chang Tai Kiang et al examine the relation of
speed between racket and shuttle ball, sensors in series were
arranged in a conventional racket. The purpose is for
developing the sensing system which may help out in
examining the quality of badminton bash. It is observed that
the analysis on performance of bashing stroke may also be
developed with the help of different coaches and intrigued
methods can be introduced in it which would be applicable
[1].
In (2010) Julian Stoev et al recommended a Mechatronics
design access correlate with technological badminton robot
player. The robotics inappropriate parameters of badminton
game are identified and restrained using optical things. The
structure of robots, visual access of shuttlecock, its projection
and interference, hardware and software control indicates the
different nature of mechanical design. This paper imported an
interdict network to demonstrate the hit time and optimal
interception of automation and actuation system to
beneficiary coordinates for focusing the interception point. It
used optimal loop by many strategies access such as the
Multi-parametric piecewise linear controller (MPT) and
Proximate Time-Optimal Servomechanism (PTOS). This
design of mechanical system contains numerous problems
such as visual, strategically, mobility, software simulation,
system control and a tough instance in mechanical structure
[10].
In (2011) BF Yousif and Kok Soon Yeh, for badminton game
a new machine was designed and assembled to train
badminton players. CATIA software was used in designing
the machine components for simulating process. The model
(DIM) to start the shuttle using spring mechanism. Hooks law
was used for determination of initial and maximum lengths of
springs. The machine basically moves in to axes, vertical and
horizontal axis. For such system programming was the main
strategy for controlling, infrared sensor and touch switch
were fitted in microcontroller. The last product was locally
framed and verified that the machine could operate in an
appropriate manner. [8].
In (2013) Xin Wang et al used two way controlled approach
in there design to improve the energy effectiveness of a sport
robot which has to perform precise motions in a fixed time
interval. The first approach to control is based on a time-
optimal servo control algorithm whose parameters are
optimized in order to achieve energy efficient behavior. The
second approach is an energy-optimal model predictive
control approach. The developed approaches are applied to a
robot playing badminton. The robot is still able to intercept
most of the opponent shuttles on time, while a significant
reduction of the energy consumption is demonstrated in both
cases [11].
In (2015) Shinobu Sakai et al constructed a machine latest in
its design, for learning badminton. The machine functions
using two turning rollers which has been developed while
accommodating the idea of using a new technique of
launching the shuttlecock that is basically a development of
high speed spin motor at specific angles. In addition, a system
was designed to discharge continuously 12 shuttlecocks and
maximum of 96 with interval of 1.5 seconds. The conclusion
of the badminton machine of two roller-type experiments has
given us the mean initial speeds at maximum flight distance
of over 11m up to 81.8m/s. The standard deviation of shot
and lateral directions approaches to 0.34m and 0.12m. The
working performance of the badminton machine achieved
extreme good level so that professionals can use it for hard
practices [4].
In (2015) Shinobu Sakai et al suggested a launcher
mechanism in badminton launching machine about high
speeds of discharging the shuttle. The shuttlecock was held by
a grip tool in launcher mechanism at launch arm which was
rotated with a high speed. The development after such type of
experiments in machine proved that the projection for the
shuttlecock can be highest at speeds of 36m/s at flight
distance of approximately 9.2m. The standard deviation of the
shot and lateral directions are of 0.30 m and 0.17 m. And
collectively, the grip tool with the shuttlecock were
interrogated for its geometrical properties to assure the
launching performance of badminton playing machine [12].                                       (2)
In (2018) Shotaro Mori1, Kazutoshi Tanaka et al proposed a
new robot prototype that comprises of a structure merged with
pneumatic cables and noninterference rotating joints, for the
consciousness of a high speed and light in weight humanoid
arm robot for badminton using an SIPC cylinder for light
footed sports robot. The robot swung with a racket-head speed
of 21 m/s, which is a higher speed attained by foregoing
robotic arms. This design will also applicable to high-speed
robots, especially light footed mobile robots. From the
experiment, observed that the reliability of the robot was as
exquisite as 10–40 (mm) at the racket head for different types
of swings and by using feed–forward control, the robot hit a
flying shuttle and attained a high hitting rate of 69.7% for Fig. 3 Due to the particular design of shuttlecock, the drag coefficients
robust swings [13]. of shuttlecock are fairly constant over the range of incidence covered
by the experiment.
II. INFLUENCE OF THE AERODYNAMIC BEHAVIOUR
ONTHE SHUTTLECOCK When the angle of attack increases, the lift coefficient
increases approximately linear. The feather shuttlecock
In badminton shuttlecock has astounding aerodynamic reaches a Cl of 0.38 at an incidence angle of and the
characteristics [14]. The physics behind the shots of synthetic shuttlecock has similar characteristics, reaching a
badminton is simple, you generate power from your body to
the shuttlecock. The shuttlecock with its natural goose Cl of approximately 0.3 at an incidence angle of [5]. And
feathers is designed to cut through air and it rotates when it also, there is a negligible buoyancy force about 0.02 gw acting
does that like blades of a fan. That gives the shuttlecock a on the shuttlecock. Thrust is a mechanical force that acts on
certain trajectory and accuracy in your shots, you can put it the direction of the movement of shuttlecock. However, since
where you want to and it behaves that way. Also, the feathers the shuttlecock is an unpowered aircraft, it doesn’t have a
have a certain parachute effect, when the shuttlecock is continuously reaction force to maintain its forward motion.
smashed the feathers are compressed because of the force Therefore, the thrust force here is not exactly the thrust force
behind them and the air pressure around them. After a certain we often discussed in aerodynamics, but the instantaneously
point they expand and that slows down the shuttlecock. This force that provided by the athlete to the shuttlecock.
would be tough to see if you play with a nylon shuttlecock.
But with a feather one it’s pretty obvious as the defending
player gets enough time to react.

Fig. 4 Change of shuttlecock magnitude of the velocity and the

Fig. 2 Effect of forces during projectile motion of shuttlecock launched
in air.
Technically, shuttlecock can be considered as aircraft. From
the analysis and Newton’s second law of motion the forces
which the shuttlecock experiences during flight as shown in
figure 3 are due to the velocity at launch, the angle above
horizontal, at launch; the position, especially the height above
the ground at launch; the drag coefficient of the shuttlecock;
and the wind velocity at the time. A shuttlecock weighs
around 4.75 to 5.50 g. This force always directed toward the
center of the earth, and always remain unchanged unless
there is an extra damage to the shuttlecock, such as broken
feathers or something else. This force is
                                                                (1)
Direction of movement.
Due to the law of conservation of momentum, an athlete use
this shuttlecock racket to provide a positive momentum to the
oncoming negative momentum shuttlecock. After the
shuttlecock received the change of momentum from the
athlete, it will then immediately change its magnitude of the
velocity and the direction of movement.
III. METHODOLOGY AND DATA ANALYSIS
In this Research, we have further improved the launching
performance of the already developed Badminton Training
Machines. In this paper, we describe the structure and
launching mechanism of the developed Shuttle Propulsion
Machine, We will describe the launch speed and flight
distance etc. of this machine, which is obtained from the
result of launch experiment. In addition, we will discuss the
aerodynamic forces which occur on the shuttlecock and
coefficients involved during its flight and discuss the
shuttlecock launch speed and its result. When the Shuttlecock
Propulsion Machine propel the shuttlecock it will make
different trajectories due to the phenomena of projectile
motion. This trajectory path only done by the shuttlecock bob
with which the feathers are attached has its own mass, much
greater than that of the feathers. So, overall weight of the
shuttle cock is that of the bob. Feathers have a large surface
area, so they resist the motion of their flight, whereas bob
pops out in the direction of the motion due to lesser surface
area and high mass concentration. Due to this it will make
projectile trajectory path.

A. Mechanical Design of the Shuttlecock Propulsion

Machine

The designed Shuttlecock Propulsion Machine comprising:

1. Shuttlecock Holder
2. Launching mechanism
3. Feeding Mechanism
4. Tripod Stand
The launching mechanism used in Shuttlecock Propulsion
Machine consists of two high speed DC motors having
operating voltages of 12V that are installed on fly wheels as
shown in the figure. The flywheels of 110 mm diameter and
20mm thickness are mounted on the motors shafts. The gap
of 25mm exists between the flywheels to catch the shuttlecock
nose. These flywheels are fixed on the acrylic sheet of 35 mm
length and 28 mm in width and 6 mm in height through shaft
of the motors.
Fig. 5 Launching and feeding mechanism of the detailed project.
Three different sheet are used in providing a specific direction
to the shuttlecock along the horizontal axis and vertical axis
and the rotation of acrylic sheets are controlled by DC Geared
motors which are instructed through arduino UNO.
The feeding mechanism consists of a robotic jaw gripper used
to grip the shuttlecock nose and fed it into the launching
mechanism. This robotic jaw consists of two high torque
servos MG 996R motors of parameters: stall torque of 9.4
kgfcm (4.8 V) with an operating speed of 0.17 s/60 (4.8 V)
and operating voltage of 4.8 V with running Current 500 mA.
Fig. 6 Change of shuttlecock magnitude of the velocity and the
Direction of movement.
These servos are control by the robotic jaw grip position and
to control the horizontal position of the gripper. The robotic
jaw gripper controlled by the arduino UNO. The shuttlecock
holder consists of a PVC duct which mount in an inclined
sequence to lay down shuttlecocks with the nose side down.
The shuttlecock holder is used for repossessing shuttlecocks
and feeding the shuttlecocks at ones to the desired launching
position. An ejecting portion flywheel assembly comprising a
pair of inertia wheels for gripping and propelling a
shuttlecock by friction at said launching position.
In this research, new installing mechanism with
modification of previous mechanism [4]. The mechanism
used for shuttlecock propulsion of the designed machine was
achieved using the friction force between the two inertia
wheels and the shuttlecock cork. The vertical position of the
Machine is controlled by a 12RPM DC-Gear motor and it
covered the vertical area of the court along with an x-axis.
The horizontal position of the Machine is controlled by a
6RPM DC-Gear motor and it covered the horizontal area of
the court along the y-axis. The vertical and horizontal motion
of the motors controlled by an L298n motor driver which is
operated by Arduino UNO. The motor driver L298n, which is
a dual full-bridge driver designed to drive inductive loads. In
addition, this machine is provided with an adjustment
mechanism that can change the shuttle’s launch angle θ. By
changing θ, the shuttlecock can be drag at different elevation
angles. The shuttlecock is a high drag projectile and they are
comparatively more fragile than, say, tennis balls. Flywheel
mechanism in which inertia wheels can provide enough
thrust to propel a shuttlecock with the speed, energy, and
accuracy of a human. This Machine used high-speed DC
motors in place of DC-Gear motors because that would slow
down the wheels and reduce the thrust. And this machine
consisted of larger and heavier wheels that will store more
inertia and have a higher rim speed to impart more speed to
the shuttlecock.
B. Relationship of Reynolds number Re with the speed of
flight of the shuttlecock
Reynolds number Re basically describes the fluid flow pattern
and the spinning rate of the shuttle increases with the
increase in Re [15]. The speed of shuttlecock doesn’t depend
on the Re on the contrary Reynolds number is dependent on
speed. When the spinning rate is high the drag coefficient
increases as the skirt diameter get enlarged over Re 210000
due to centrifugal forces large in number.
                                                                           (3)
                                                             
Where, V is the wind speed, D is the diameter of the skirt and
u denotes the kinematic viscosity.
Fig. 7. Drag Coefficients Cd variation with Reynolds number Re
Coefficients Cd of the feather and synthetic shuttlecock.
The Drag were approximately same (at 0.48) and equivalent
up to Reynolds Numbers of 70 000 (16 m s1). Above Re
70000, the drag coefficient decreased for the synthetic
shuttlecock and stayed constant for the feather.
Fig. 8. Spinning Rate of shuttlecock during flight.
As the air exerts no lift on a shuttlecock and its drag
coefficient is constant over typical game Reynolds number,
the equation of dynamics for this object could be expressed
the following way:
                                                   (4)
This equation contains three different terms: inertia, gravity
and drag. At the beginning of the trajectory, the initial
velocity is high as the drag force. In this regime the gravity
could be neglected. So the shuttlecock follows a straight line
and decelerates. Finally the shuttlecock tends toward a steady
state where the weight counterbalances the drag. In this final
regime the velocity is collinear to the gravity and its value is
with
                                                                        (5)
the aerodynamic length. Clanet and et al. solve analytically
this equation for projectile in air. They found a good
approximation of the range of these projectiles depending on
initial velocity, angle and the aerodynamic length.
Shuttlecock dynamics. This force has a huge impact on the
shape and the range of shuttlecock trajectory. These
trajectories have nothing in common with the usual parabola.
Beside, aerodynamic force applies a stabilizing torque as the
shuttlecock is not aligned with its velocity direction. This
torque provides the shuttlecock flip ability and explains why
it always flies the cork ahead. The terminal velocity can be
calculated when the shuttlecock falls to a point in which the
air resistance and gravity are at equilibrium and that’s the
fastest an object will fall... [16] [17]
Furthermore, from the study it concluded that the terminal
velocity for the shuttlecock is in the range of 6.51 to 6.87 m/s.
C. Effect of Buoyancy Force on the Flight of Shuttlecock
From the analysis the shuttlecock experiences a buoyancy
force during movement because of the pressure gradient of
the fluid. This force is equal to the weight of air displaced by
the shuttlecock .That force is about 0.1% of the dominant
forces of weight and drag.
The pressure that exerted on upper and lower surface of the
shuttlecock is slightly different due to the height of the
shuttlecock. The buoyancy force can be measured as:
As it seen, neglecting its impact on the trajectory of
shuttlecock will have no significance on the results of
calculation.
D. Flow Visualization of Shuttlecock
Aerodynamic fundamentals affect the shuttlecock during
flight as it travels through the fluid. From the Accurate angle
and speed of a shot. Thunder smash with inaccurate angle
causes the shuttle either trapped at the net or long out of the
back line. Drop shot and skydive shot need deadly speed and
angle to make the opponent heavily move their steps due to
wrong anticipation. Due to the particular design of
shuttlecock, the drag coefficients of shuttlecock are fairly
constant over the range of incidence covered by the
experiment. I would say the shuttlecock is a projectile with
phases of parabolic (or elliptical if you are more strict) flight.
The feathers will make the shuttlecock sort of weathervane,
because they act as a stabilizer, so they are kept behind.

Fig. 10. Data Analysis of the projectile trajectory at different

points
(mean, median, max, min) at maximum range obtained at 45
degree.

Fig. 9. Excerted pressure and velocity on the Shuttlecock Fig. 10. Data Statistics
roller becomes faster, the range is also expanding. Focusing
on the falling position in the lateral direction (Z direction),
when the flight distance exceeds 9 m, the inclination that is
biased slightly in the + Z direction.
                                       TABLE I

Fig. 10. Effect of aerodynamic coefficients w.r.t time.

E. Result Analysis
                                      TABLE II
From the analysis, the shuttle propulsion machine developed
can continuously launch 12 number of shuttles at intervals of
about 120 ms seconds per shuttle. As a result of continuous
fire experiment interlocked with a two inertia wheels
controlled by high speed Dc motors badminton machine,
maximum flying distance of 13.45 m, firing direction. The
flight distance, as well as the initial velocity and depression
angle at launch, as well as the shadow’s aerodynamic
coefficient and Reynolds number etc. Let X be the direction of
launch of the shuttle from the machine and Z be the direction IV. CONCLUSION
perpendicular to it (lateral direction), and let the respective
launch patter shows the shuttle falling position. As a result, The present research project relates to an Optimized
the flight distance becomes longer as the rotation speed of the Shuttlecock Propulsion Machine for the launching of
shuttlecocks at varying trajectories, frequencies and speeds to
the desired direction of a player. This machine would also
focus on the impact of the position, angle control strategy and
system performance of a multi-axial to build comprehensive
shuttlecock propulsion machine that could facilitate
badminton training. A major drawback of this machines
predecessors is a lack of optimized speed and high cost. To
add to the advantages of our machine, we have designed it to [16] L.-M. Chen, Y.-H. Pan, and Y.-J. Chen, “A study of shuttlecock trajectory
in badminton,” Journal of sports science & medicine, vol. 8, no. 4, p. 657,
control multiracial position of propulsion of the shuttlecock. 2009.
This Shuttlecock Throwing Machine will allow propulsion of [17] R. Subramaniyan, “Effect of local conditions on the flight trajectory of an
consecutive shuttlecocks from a machine that will be indoor badminton shuttlecock,” Bangalore, India, 2008.
manufactured at a cheaper cost with minimum cost of
maintenance and repair. Badminton Training Machines are
already available in the market but they are expensive made
of proprietary technology. Our goal is to propose an affordable
open source machine. Furthermore, this project will lead to a
simple machine design that would propel shuttlecocks at a
constant rate which would help players improve their
badminton stroke techniques and stay in good shape for their
tournaments.

ACKNOWLEDGMENT

We are grateful to M. Usman Aslam, assistant professor,

in the Department of Electrical Engineering that they provide
an opportunity to express our gratitude towards him. We are
extremely thankful to him for sharing adroitness, sincere and
valuable guidance and encouragement extended to us. We
thank our colleagues who provided insight and expertise
toward us.
.
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