2 Dof Planar Robot Setup And Configuration; Pen Setup - Quanser 2 DOF Planar Robot User Manual

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.
1. Place the robot in a configuration such that the end effector is somewhere in the workspace.
2. Make sure the thumb screw in the end effector 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.
3. Manually extend the solenoid until it reaches the end of its stroke. Tighten the pen in place at this point with
the thumb screw. This is not the final resting place of the pen so don't tighten too much.
4. Allow the solenoid to retract now and loosen the thumbscrew while holding the pen in place. Move the pen
down towards the paper by about 1-2mm and tighten the thumbscrew firmly.
2 DOF PLANAR ROBOT User Manual
(a) Screw Disengaged
Figure 3.1: Thumb screw setup
Figure 3.2: Pen in downward position
(b) Tightened Screw
DRAFT - September 6, 2013