2 DOF Planar Robot User Manual 2 DOF Planar Robot Quanser Inc.
© 2013 Quanser Inc., All rights reserved. Quanser Inc. 119 Spy Court Markham, Ontario L3R 5H6 Canada info@quanser.com Phone: 1-905-940-3575 Fax: 1-905-940-3576 Printed in Markham, Ontario. For more information on the solutions Quanser Inc. offers, please visit the web site at: http://www.quanser.com This document and the software described in it are provided subject to a license agreement.
CONTENTS 1 Presentation 1.1 Description 1.2 Experiment Overview 4 4 4 2 2 DOF Planar Robot Components 2.1 2 DOF Planar Robot Component Nomenclature 2.2 Component Descriptions 6 6 7 3 2 DOF Planar Robot Setup and Configuration 3.1 Pen Setup 3.2 Calibration Procedure 9 9 10 4 Wiring Procedure 4.1 Cable Nomenclature 4.2 Connection using a Two-Channel Current Amplifier 4.
1 PRESENTATION 1.1 Description The Quanser 2-DOF Planar Robot, shown below in Figure 1.1, is a parallel robotic manipulator used to teach robot concepts such as kinematics and calibration. The robot is comprised of a five-bar parallel mechanism driven by two DC motors with harmonic drive gearboxes. Motor position feedback for both motors is provided by optical encoders that measure the angular position of the motor shaft.
1.2.3 Open Loop IO Checkout File Name: planar2dof_iocheck.mdl In this model all of the IO used in a robot controller is tested. This model can be used to verify that all of the components are working and that the system has been wired correctly. 1.2.4 Closed Loop Joint Controller with Forward Kinematics File Name: planar2dof_joint_control.mdl In this model 2 independent PD joint controllers have been implemented. The controller gains can be tuned using the slider gains to improve the performance. 1.2.
2 2 DOF PLANAR ROBOT COMPONENTS The 2 DOF Planar Robot components are identified in Section 2.1. Some of the those components are then described in Section 2.2. 2.1 2 DOF Planar Robot Component Nomenclature The 2 DOF Planar Robot components listed in Table 2.1 below are labeled in Figure 2.1 and Figure 2.2. ID 1 2 3 4 5 6 Component Link 1 Link 2 Link 3 Link 4 Solenoid Pen ID 7 8 9 10 11 12 Component Calibration Posts Motors w.
Figure 2.2: 2 DOF Planar Robot Components Note: Components 8 and 9 are not shown as they are hidden by the case. 2.2 Component Descriptions 2.2.1 DC Motor with Harmonic Drive The motor used to drive the five-bar mechanism is a Maxon DC motor (118752) attached to a harmonic drive with gear ratio 50:1. Harmonic drives provide gearing with zero backlash. The motors are referred to as ‘left’ and ‘right’ in this manual and are labeled accordingly on the above figure.
2.2.3 Solenoid The solenoid is a 12VDC continuous duty actuator. This means that the solenoid can be left actuated indefinitely without overheating. The solenoid has a ½” stroke with an output force measuring 20 oz. at 1/8'' stroke and draws 5.5W of power.
3 2 DOF PLANAR ROBOT SETUP AND CONFIGURATION Caution: If the equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired. 3.1 Pen Setup The 2-DOF Planar Robot is shipped without the pen in place. The setup procedure is required to set the pen up properly and will be outlined here. 1. Place the robot in a configuration such that the end effector is somewhere in the workspace. 2.
Figure 3.3: Pen Adjustment 5. Move the pen around the workspace to ensure that the pen is writing on all parts of the page. If it is not, adjust the pen again and if problems persist, refer to the troubleshooting section of this manual. 3.2 Calibration Procedure Each time the robot is reconnected to the control PC, or the PC has been rebooted, the robot must be calibrated.
4 WIRING PROCEDURE The following is a listing of the hardware components used in this experiment: 1. Power Amplifier: Quanser AMPAQ-L2, Quanser VoltPAQ-X2, or equivalent. 2. Data Acquisition Board: Quanser Q2-USB (or Q8-USB), QPID/QPIDe, NI DAQ, or equivalent. 3. Experiment: Quanser 2 DOF Planar Robot 4. Power Supply: 12V DC Power Supply for Solenoid See the corresponding documentation for more information on these components.
Cable Type 2xRCA to 2xRCA Description This cable connects an analog output of the data acquisition terminal board to the power module for proper power amplification. 2x5-pin-stereo-DIN to 5pin-stereo-DIN This cable carries the encoder signals between an encoder connector and the data acquisition board (to the encoder counter). Namely, these signals are: +5 VDC power supply, ground, channel A, and channel B 16-pin ribbon cable This cable carries the command signal for the solonoid on channel 2.
Cable # 1 2 3 4 5 6 7 From To Signal Terminal Board: Analog Output #0 Terminal Board: Analog Output #1 Amplifier: To Load #0 connector Amplifier: To Load #1 connector Terminal Board: Encoder Input #0 Terminal Board: Encoder Input #1 Terminal Board: Digital Input Amplifier Amplifier Command #0 connector Amplifier Amplifier Command #1 connector 2 DOF Planar Robot Left Motor connector 2 DOF Planar Robot Right Motor connector 2 DOF Planar Robot Left Encoder connector 2 DOF Planar Robot Right Encoder connec
Follow these steps to connect the 2 DOF Planar Robot system: 1. Make sure that your data acquisition device is installed and is operational. For example, if using the Quanser Q2-USB see Reference [1]. 2. Make sure everything is powered off before making any of these connections. This includes turning off your PC and the amplifier. 3. Connect one end of the 2xRCA to 2xRCA cable from the Analog Output Channel #0 on the terminal board to the Amplifier Command #0connector on the amplifier, i.e.
Figure 4.
5 TECHNICAL SUPPORT To obtain support from Quanser, go to http://www.quanser.com/ and click on the Tech Support 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 included. Submit the form and a technical support person will contact you.
REFERENCES [1] Quanser Inc. Q2-USB Data-Acquisition System User's Guide, 2010.
