2 DOF Serial Flexible Link

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Study Torsional Compliance and Serial Linkage Flexibility

The 2 DOF Serial Flexible Link is a simplified model of a robotic arm ideally suited to introduce intermediate and advanced control concepts and theories relevant to applications of torsional compliance and serial linkage flexibility. These are encountered in large light space structures, where due to the weight constraints flexible structures must be controlled using feedback techniques. Students learn how to design a control system to position the robot tip in a plane as rapidly as possible, with minimum vibrations.

In addition to teaching control concepts, the 2 DOF Serial Flexible Link can be used for research in various areas related to robotics and mechatronics, including nonlinear control, optimal control and intelligent control.

How It Works

This 2 DOF Serial Link system consists of two DC motors, each driving a two-bar serial linkage via a harmonic gearbox (zero backlash). Both links are flexible and instrumented with strain gage sensors. The primary link is rigidly clamped to the first drive and carries at its end the second harmonic drive, to which the second flexible link is attached. Both motors are further instrumented with quadrature optical encoders.

This Multi-Input-Multi-Output (MIMO) system is supplied with a decoupled state-feedback controller reducing flexibility-caused oscillations as well as link-coupling effects. However, the open-architecture design of the system allows you to design and implement any other controller.

Quanser-developed Courseware Included

The 2 DOF Serial Flexible Link comes with Quanser-developed courseware materials, including a Reference Manual and pre-designed controllers. This allows you to get your lab running faster, saving months of time typically required to develop lab materials.

  • High quality aluminum chassis with precision crafted components
  • High resolution optical encoders and gages to sense link deflection
  • Fully compatible with MATLAB®/Simulink® and LabVIEW™
  • Fully documented system models and parameters provided for MATLAB®, Simulink®, LabVIEW™
  • Open architecture design, allowing users to design their own controller
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

To set up your 2 DOF Serial Flexible Link workstation, you need additional components. Quanser engineers recommend:

for MATLAB®/Simulink® users  
1x Q8-USB data acquisition device¹  
1x AMPAQ-L2 linear current amplifier²  
QUARC real-time control software  

¹ alternatively, you can use QPIDe or any equivalent NI DAQ device supported by QUARC
² alternatively, you can use AMPAQ-L4 amplifier

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