| 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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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
Additional information
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