2 DOF Robot

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Introduce Fundamental Principles of Robotics

The 2 DOF Robot module is ideal to introduce students to the fundamental and intermediate principles of robotics. You can use it to demonstrate real-world control challenges, such as pick-and-place robots used in manufacturing lines.

The 2 DOF Robot module attaches to two Rotary Servo Base Units (SRV02). Using this experiment, students learn concepts such as forward and inverse kinematics and workspace control. They learn how to:

  • design PD-based control to position the robot joint angles
  • simulate the joint space control and ensure it meets the given specifications
  • run the joint space control on the actual 2 DOF Robot system
  • find direct (or forward) kinematics and inverse kinematics of a 2 DOF pantograph type robot
  • simulate the closed-loop X-Y positioning of the end-effector using the two PD control loops on the servos with the kinematics 
  • implement the workspace controller on the 2 DOF Robot system.

In addition to teaching control concepts, the 2 DOF Robot module can be used for research in various areas, including nonlinear and adaptive control.

How It Works

The 2 DOF Robot module is connected to two Rotary Servo Base Units, which are mounted at a fixed distance. Two servomotors on the Rotary Servo Base Units are mounted at a fixed distance and control a 4-bar linkage system: two powered arms coupled through two non-powered arms. The system is planar and has two actuated and three unactuated revolute joints.

The goal of the 2 DOF Robot experiment is to manipulate the X-Y position of a four-bar linkage end effector. Such a system is similar to the kinematic problems encountered in the control of other parallel mechanisms that have singularities.

Quanser-developed Courseware Included

The 2 DOF Robot module comes with Quanser-developed courseware. The workbook with exercises, together with quick start resources, a comprehensive User Manual, pre-designed controllers and a system model allow you to get your lab running faster, saving months of time typically required to develop lab materials.

  • 2 DOF Robot module easily attaches to the Rotary Servo Base Unit
  • 4-bar precision-crafted aluminum linkage system
  • Allows for mounting of the 2 DOF Inverted Pendulum module for additional experiments (sold separately)
  • Easy-connect cables and connectors
  • Fully compatible with MATLAB®/Simulink® and LabVIEW™
  • Fully documented system models & parameters provided for MATLAB®, Simulink®, LabVIEW™ and Maple™
  • Open architecture design, allowing users to design their own controller
2 DOF Robot overall dimensions* (L x W x H) 40 cm x 30 cm x 20 cm
2 DOF Robot total mass* 4.0 kg
Mass of 4-bar linkage module 0.335 kg
Mass of single link 0.065 kg
Length of link 0.127 m
Link moment of inertia about cog 8.74 x 10-5 kg.m²
Link moment of inertia about pivot 4.41 x 10-4 kg.m²

* 2 DOF Robot module mounted on the Rotary Servo Base Unit

Topics included in the Quanser-developed courseware:

Model Topics

  • Transfer function representation
  • Kinematics

Control Topic

  • PD

The 2 DOF Robot module can be also used to teach other topics that are not included in the Quanser-developed courseware.

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

for MATLAB®/Simulink® users for LabVIEW™ users
2x SRV02 Rotary Servo Base Unit 2x SRV02 Rotary Servo Base Unit
1x Q2-USB data acquisition device¹ 1x VoltPAQ-X2 linear voltage amplifier²
1x VoltPAQ-X2 linear voltage amplifier² Quanser Rapid Control Prototyping toolkit software
QUARC real-time control software and one of the following options:
  - 1x NI myRIO with 1x Quanser Terminal Board for NI myRIO
  - 1x NI CompactRIO controller³ with 2x Quanser Q1-CRIO module
  - 1x NI M- or X-series data acquisition device4 with 1x Quanser NI Terminal Board

¹ alternatively, you can use Q8-USB, QPIDe or any equivalent NI DAQ device supported by QUARC
² alternatively, you can use two VoltPAQ-X1 amplifiers

³ NI cRIO-9074, or NI cRIO-9024 with cRIO-9113 chassis
4 NI DAQ device must be supported by Quanser RCP toolkit. Alternatively, you can use Quanser Q2-USBQ8-USB, or QPIDe

Other products you might be interested in

2 DOF Inverted Pendulum/Gantry
Quanser Robotics Package for Education
Omni Bundle
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