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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.

SKU: cb060c2f681a Categories: , Tag:

Fully compatible with LabVIEW and MATLAB/Simulink
High-resolution encoders and strain gages to sense link deflection
Open architecture design for maximum flexibility

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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