Overview

This system consists of two DC motors each driving harmonic gearboxes in a two-bar serial linkage. The primary link is coupled to the first drive by means of a flexible joint. It carries at its end the second harmonic drive which is coupled to the second rigid link via another flexible joint. Both motors and both flexible joints are instrumented with quadrature optical encoders. The Multi-Input Multi-Output (MIMO) system is supplied with a decoupled state-feedback controller reducing flexibility-caused oscillations as well as link-coupling effects.

  • Fully compatible with LabVIEW and MATLAB/Simulink
  • High-resolution encoders to sense both position and joint deflection
  • Interchangeable set of springs for variable torsional spring rate
  • Open architecture design for maximum flexibility

The following additional components are required to complete your workstation, and are sold separately:

For Simulink

  • QUARC® add-on for MATLAB®/Simulink®
  • Quanser AMPAQ-L2 linear current amplifier
  • One of the following DAQ devices:
    • Quanser Q8-USB
    • Quanser QPIDe

Product Details

Plant dimensions (L x W x H) 50.8 cm x 50.8 cm x 24 cm
2 DOF Flexible Joint total length 61 cm
Flexible joint #1 maximum displacement ± 90 deg
Flexible joint #2 maximum displacement ± 90 deg
Drive #1 encoder sensitivity (quadrature) 1.524 x 10-5 rad/count
Drive #2 encoder sensitivity (quadrature) 1.918 x 10-5 rad/count
Flexible Joint encoder sensitivity (quadrature) 23.968 x 10-5 rad/count
Flexible joint #1 maximum continuous torque 8.6 N.m
Flexible joint #2 maximum continuous torque 1.7 N.m
Maximum additional payload 0.5 kg

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