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Summary of Contents for Quanser 2 DOF
- Page 1 USER MANUAL 2 DOF Robot Experiment Set Up and Configuration CAPTIVATE. MOTIVATE. GRADUATE.
- 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.
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Page 3: Table Of Contents
CONTENTS Presentation Description Experiment Overview Components Specifications System Setup Wiring Procedure Cable Nomenclature Typical Connections Troubleshooting Technical Support v 1.0 2DROBOT User Manual... -
Page 4: Presentation
1.2 Experiment Overview As described in Table 1.1, below, the 2 DOF Robot module by itself is supplied with two position control experiments. However when combined with the 2 DOF Joint, additional experiments can be performed such as 2 DOF Gantry and 2 DOF Inverted Pendulum. -
Page 5: Components
2 COMPONENTS The components of the 2 DOF Robot system are listed in Table 2.1 and labeled in Figure 2.1, below Component Component Four-bar linkage Support base plate Robot end-effector Servo clamp SRV02 A Linkage thumbscrews SRV02 B Table 2.1: 2 DOF Robot components. -
Page 6: Specifications
3 SPECIFICATIONS Table 3.1, lists and characterizes the main parameters associated with the SRV02 2 DOF Robot module. Some of these parameters are used in the mathematical model. Symbol Description Value Unit Mass of four-bar linkages 0.335 Mass of single link 0.065... -
Page 7: System Setup
Caution: If the equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired. Follow this procedure to setup the Quanser 2 DOF Robot module for experimental use: 1. Place the two Rotary Servo Motor (SRV02) systems onto the support plate, ID #5 in Figure 2.1, above, and as shown... -
Page 8: Wiring Procedure
Caution: When Using the Quanser VoltPAQ power amplifier, make sure set the Gain to 1! 5.1 Cable Nomenclature Table 5.1, below, provides a description of the standard cables used in the wiring of the SRV02 and 2 DOF Robot system. -
Page 9: Typical Connections
5.2 Typical Connections This section describes the typical connections used for to connect the SRV02 and 2 DOF Robot system to a data acquisition (DAQ) device and a two-channel amplifier. The connections are given in Table 5.2 and illustrated in Figure 5.3 and Figure 5.2. - Page 10 Figure 5.2: Connections on 2 DOF Robot plant. The following steps describes a detailed wiring procedure of the 2 DOF Robot to the SRV02, data-acquisition board and a dual channel power amplifier 1. It is assumed that the data acquisition (DAQ) device is already installed as discussed in its respective User Manual.
- Page 11 5.2.1 Connections using a two Single Channel Amplifiers Alternatively, this section shows the typical wiring of the 2 DOF robot when using 2x single channel power amplifier. Figure 5.3: 2 DOF Robot connection diagram using two single channel amplifiers Caution: When Using the Quanser VoltPAQ power amplifier, make sure set the Gain to 1! v 1.0...
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Page 12: Troubleshooting
6 TROUBLESHOOTING The actuators and sensors of the 2 DOF Robot plant are all on the SRV02 units themselves. Therefore, see Refer- ence [1] for any information regarding the testing and troubleshooting of the SRV02 devices. 7 TECHNICAL SUPPORT To obtain support from Quanser, go to http://www.quanser.com/... - Page 13 REFERENCES [1] Quanser Inc. SRV02 User Manual, 2012. v 1.0 2DROBOT User Manual...