A Robotic Experiment That Could
Take Notes
Introducing the 2 DOF Planar Robot. Use this parallel robotic manipulator
to teach various robotics concepts to senior undergraduate and graduate
students. The pedagogical curriculum provided with the device, along
with QuaRC® control design environment represents a comprehensive
plug-and-play solution for teaching and research. So you get a methodical
approach for teaching robotics.
Go Beyond the Classroom
The robot’s robust design and its harmonic drive actuators also
make this manipulator suitable for advanced research in robotics.
How
It Works
The 2 DOF Planar Robot is comprised of a five-bar parallel mechanism
driven by two DC motors with harmonic drive gearboxes. These harmonic
drives provide gearing with zero backlash. Motor position feedback for
both motors is provided by optical encoders. They measure the angular
position of the motor shaft. The five-bar mechanism has a unique end-effector
which allows the robot to hold a pen. By actuating the end-effector linked
solenoid, the pen can be deployed. The result? Robot motions are traced
on paper below.
Curriculum Topics Provided – Request a Curriculum
Sample
* I/O Checkout
* Joint Calibration
* Forward Kinematics
* Inverse Kinematics
* Misalignment Compensation
* Optimized Pallet Filling Algorithm
* Planar Haptic
Theory to Practice in One Simulated Step
See the 2 DOF Planar Robot from
another perspective. Use visualization tools within QuaRC® to run
a real-time virtual environment simulation of the device in parallel
to the actual controller commanding the plant. The Virtual Plant Simulation
(VPS) may be used independently to examine the designed controller on
a graphical and accurate simulation. This enables you to implement the
real-time control algorithm without any need for hardware-in-the-loop
components. The result? This simulation module addresses the traditional “theory
to practice” control
design cycle - modeling, design, simulation and implementation. The
Virtual Plant Simulation is included in the 2 DOF Planar Robot Hardware-in-the-Loop
solution or can be purchased separately. |
