Overview

This experimental system consists of two DC motors each driving harmonic gearboxes and two serial linkages. The primary link attached to the first motor is flexible and is instrumented with a strain gage sensor. It carries at its end the second motor to which the second flexible link is attached, again instrumented with a strain gage sensor. Both motors are further instrumented with high-resolution 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 and strain gages to sense link deflection
  • 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 22.5 cm
2 DOF Flexible Link total length 77.5 cm
Maximum displacement – Axis 1 ± 90 deg
Maximum displacement – Axis 2 ± 90 deg
Encoder sensitivity (quadrature) – Axis 1 1.534 x 10-5 rad/count
Encoder sensitivity (quadrature) – Axis 2 1.918 x 10-5 rad/count
Maximum continuous torque – Axis 1 8.6 N.m
Maximum continuous torque – Axis 2 1.7 N.m
Maximum additional payload 0.5 kg

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