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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.

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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

Additional information