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Quanser 2 DOF Planar Robot User Manual

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2 DOF Planar Robot
User Manual
2 DOF Planar Robot
Quanser Inc.
2013

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Summary of Contents for Quanser 2 DOF Planar Robot

  • Page 1 2 DOF Planar Robot User Manual 2 DOF Planar Robot Quanser Inc. 2013...
  • Page 2 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. Neither the software nor this document may be used or copied except as specified under the terms of that license agreement.

  • Page 3: Table Of Contents

    Presentation Description Experiment Overview 2 DOF Planar Robot Components 2 DOF Planar Robot Component Nomenclature Component Descriptions 2 DOF Planar Robot Setup and Configuration Pen Setup Calibration Procedure Wiring Procedure Cable Nomenclature Connection using a Two-Channel Current Amplifier Connections using a Two-Channel Voltage...

  • Page 4: Presentation

    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.
  • Page 5 In this model both the forward and inverse position kinematics have been implemented. The user can command the end effector to move in Cartesian space. The kinematics have been defined based on the definitions in Figure 1.2. Figure 1.2: 2 DOF Planar Robot Kinematic Definitions DRAFT - September 6, 2013...

  • Page 6: 2 Dof Planar Robot Components

    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.

  • Page 7: Component Descriptions

    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.
  • Page 8 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. 2 DOF PLANAR ROBOT User Manual...

  • Page 9: 2 Dof Planar Robot Setup And Configuration

    3 2 DOF PLANAR ROBOT SETUP AND CONFIGURATION Caution: If the equipment is used in a manner not specified by the manufacturer, the protection pro- vided 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.

  • Page 10: Calibration Procedure

    The robot will remain calibrated as long as the control computer remains on, and the encoder cables remain con- nected. If either of these conditions ceases to exist, the calibration procedure must be performed again. 2 DOF PLANAR ROBOT User Manual...

  • Page 11: Wiring Procedure

    Section 4.2. 4.1 Cable Nomenclature The cables used to connect the Quanser 2 DOF Planar Robot system with a power amplifier and data acquisition device are shown in Table 4.1. Depending on your configuration, not all these cables are necessary.

  • Page 12: Connection Using A Two-Channel Current Amplifier

    4.2 Connection using a Two-Channel Current Amplifier This section describes the typical connections used to connect the 2 DOF Planar Robot to a data-acquisition board and a two channel voltage amplifier. The connections are summarized in Table 4.2, and pictured in Figure 4.1.
  • Page 13 Command signal for the solonoid on connector channel 2. Table 4.2: 2 DOF Planar Robot AMPAQ Wiring Figure 4.1: Connecting the 2 DOF Planar Robot to a Dual-Channel Current Amplifier and Two-Channel DAQ DRAFT - September 6, 2013 2 DOF PLANAR ROBOT User Manual...

  • Page 14: Connections Using A Two-Channel Voltage Amplifier

    5-pin DIN cable. DO NOT connect the encoder cable to the amplifier! 9. Connect the Digital I/O connector on the 2 DOF Planar Robot to the Digital Output header on the terminal board using the ribbon cable. See connection #7 in Figure 4.1. This carries the solonoid command signal.
  • Page 15 Figure 4.2: Connecting the 2 DOF Planar Robot to a Two-Channel Voltage Amplifier and DAQ DRAFT - September 6, 2013 2 DOF PLANAR ROBOT User Manual...

  • Page 16: Technical Support

    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.
  • Page 17 REFERENCES [1] Quanser Inc. Q2-USB Data-Acquisition System User's Guide, 2010. DRAFT - September 6, 2013 2 DOF PLANAR ROBOT User Manual...

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