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CONTENTS

1

Presentation

4

1.1

Description

4

1.2

Experiment Overview

4

2

2 DOF Planar Robot
Components

6

2.1

2 DOF Planar Robot Component Nomenclature

6

2.2

Component Descriptions

7

3

2 DOF Planar Robot Setup and Configuration

9

3.1

Pen Setup

9

3.2

Calibration Procedure

10

4

Wiring Procedure

11

4.1

Cable Nomenclature

11

4.2

Connection using a Two-Channel Current
Amplifier

12

4.3

Connections using a Two-Channel Voltage
Amplifier

14

5

Technical Support

16

2 DOF PLANAR ROBOT User Manual

DRAFT - September 6, 2013

Содержание 2 DOF Planar Robot

Страница 1: ...2 DOF Planar Robot User Manual 2 DOF Planar Robot Quanser Inc 2013...

Страница 2: ...m This document and the software described in it are provided subject to a license agreement Neither the software nor this document may be used or copied except as specified under the terms of that li...

Страница 3: ...Component Descriptions 7 3 2 DOF Planar Robot Setup and Configuration 9 3 1 Pen Setup 9 3 2 Calibration Procedure 10 4 Wiring Procedure 11 4 1 Cable Nomenclature 11 4 2 Connection using a Two Channel...

Страница 4: ...t robot motions are traced on paper below Figure 1 1 Quanser 2 DOF Planar Robot system Caution This equipment is designed to be used for educational and research purposes and is not intended for use b...

Страница 5: ...t PD joint controllers have been implemented The controller gains can be tuned using the slider gains to improve the performance 1 2 5 Closed Loop Cartesian Controller with Forward and In verse Kinema...

Страница 6: ...nar Robot components listed in Table 2 1 below are labeled in Figure 2 1 and Figure 2 2 ID Component ID Component 1 Link 1 7 Calibration Posts 2 Link 2 8 Motors w Harmonic Drives 3 Link 3 9 Encoders 4...

Страница 7: ...ushes The most likely source for high frequency noise is derivative feedback If the derivative gain is set too high a noisy voltage will be fed into the motor To protect your motor you should always b...

Страница 8: ...ontinuous duty actuator This means that the solenoid can be left actuated indefinitely without overheating The solenoid has a stroke with an output force measuring 20 oz at 1 8 stroke and draws 5 5W o...

Страница 9: ...tor is not protruding into the hole picture on left in Figure 3 1 where the pen goes Place the pen in the hole and leave the screw disengaged a Screw Disengaged b Tightened Screw Figure 3 1 Thumb scre...

Страница 10: ...count to the appropriate value for that location To calibrate the robot follow these instructions 1 Install the stainless steel calibration posts into the set of calibration holes as shown in Figure 2...

Страница 11: ...olenoid See the corresponding documentation for more information on these components The cables supplied with the 2 DOF Planar Robot are described in Section Section 4 1 and the procedure to connect t...

Страница 12: ...ion to the desired DC motor on the servo e Motor Cable AMPAQ 2x4 pin DIN to 2 pin lock ing This cable connects the output of the AMPAQ L2 power module after amplification to the desired DC motor on th...

Страница 13: ...ight Motor connector Power leads to the 2 DOF Planar Robot right DC motor 5 Terminal Board Encoder Input 0 2 DOF Planar Robot Left En coder connector Left motor encoder load shaft angle measurement 6...

Страница 14: ...4 shown in Figure 4 1 7 Connect the 5 pin stereo DIN to 5 pin stereo DIN cable from the Left Encoder connector on the 2 DOF Planar Robot panel to Encoder Input 0 on the terminal board as depicted by c...

Страница 15: ...Figure 4 2 Connecting the 2 DOF Planar Robot to a Two Channel Voltage Amplifier and DAQ 2 DOF PLANAR ROBOT User Manual DRAFT September 6 2013...

Страница 16: ...port link Fill in the form with all the requested software and hardware information as well as a description of the problem encountered Also make sure your e mail address and telephone number are incl...

Страница 17: ...REFERENCES 1 Quanser Inc Q2 USB Data Acquisition System User s Guide 2010 2 DOF PLANAR ROBOT User Manual DRAFT September 6 2013...

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