Quanser - 2 DOF Robot Module
The 2 DOF Robot module is ideal to introduce students to the fundamental and intermediate principles of robotics. You can use it to demonstrate real-world control challenges, such as pick-and-place robots used in manufacturing lines. The 2 DOF Robot module attaches to two Rotary Servo Base Units. Using this experiment, students learn concepts such as forward and inverse kinematics and workspace control.
The 2 DOF Robot module is connected to two Rotary Servo Base Units, which are mounted at a fixed distance. Two servomotors on the Rotary Servo Base Units are mounted at a fixed distance and control a 4-bar linkage system: two powered arms coupled through two non-powered arms. The system is planar and has two actuated and three unactuated revolute joints.
The goal of the 2 DOF Robot experiment is to manipulate the X-Y position of a four-bar linkage end effector. Such a system is similar to the kinematic problems encountered in the control of other parallel mechanisms that have singularities.
- 2 DOF Robot module easily attaches to the Rotary Servo Base Unit
- 4-bar precision-crafted aluminum linkage system
- Allows for mounting of the 2 DOF Inverted Pendulum module for additional experiments (sold separately)
Modeling Topics
- Transfer function representation
- Kinematics
Control Topics
- PD
- QUARC® add-on for MATLAB®/Simulink®
- Two Rotary Servo Base Units
- Quanser VoltPAQ-X2 linear voltage amplifier
- One of the following DAQ devices:
- Quanser Q2-USB
- Quanser Q8-USB
- Quanser QPIDe
- Quanser Rapid Control Prototyping (Q-RCP) Toolkit® add-on for NI LabVIEW™
- Two Rotary Servo Base Units
- Quanser VoltPAQ-X2 linear voltage amplifier
- One of the following DAQ devices:
- NI CompactRIO with two Quanser Q1-cRIO modules
- NI myRIO with Quanser Terminal Board
- Quanser Q2-USB
- Quanser Q8-USB
- Quanser QPIDe
2 DOF Robot overall dimensions* (L x W x H): 40 cm x 30 cm x 20 cm
2 DOF Robot total mass*: 4.0 kg
Mass of 4-bar linkage module: 0.335 kg
Mass of single link: 0.065 kg
Length of link: 0.127 m
Link moment of inertia about cog: 8.74 x 10-5 kg.m²
Link moment of inertia about pivot: 4.41 x 10-4 kg.m²
* 2 DOF Robot module mounted on the Rotary Servo Base Unit