Rotary Flexible Link
Contents
1. inch displacement Move the tip counter clockwise 4 slots as seen in Figure 6 below Page 8 Revision 01 Figure 6 Move tip 4 slots counter clockwise Your measurement should now be reading 1 volt If you do not read 1 volt gently adjust the Gain potentiometer such that you are reading 1 volt It is strongly urged to NOT adjust the gain potentiometer too much as the system should have already been calibrated and should not have drifted a significant amount Once you are reading 1 volt move the tip 8 slots clockwise 4 slots away from 0 and check that you are now reading 1 volts After ensuring that your sensor is generating 1 volt 1 inch deflection you return the tip to its equilibrium 0 postion and make sure it is again reading 0 volts If not adjust the offset potentiometer once again to read 0 volts As mentioned above the unit is already calibrated before shipping and any adjustment would only be minor if any This calibration routine is only provided for extreme circumstances For technical support referring to any of the FLEXGAGE components please visit us on the web at www Quanser com Under our Technical Support section please fill out a technical support form indicating your problem in detail and one of our engineers will be happy to respond to your request Page 9 Revision 01 4 Rotary Flexible Link Module Range of Experiments amp Features The rotary flexible Link is an ideal e2. SRV02 Series GUANSER Rotary Flexible Link User Manual Table of Contents 3 1 1 Modular SNS oe 4 2 System Nomenclature and 5 3 System Setup 6 3 1 Typical Connections for the SRV02 FLEXGAGE 7 3 2 Calibrating th Strain Gage rsrs iar EE AE E EEE EREE 7 3 2 1 Offset cersesc TE 8 3 2 2 Gam IG IMCD neire iea e aer E N NEER TE TEE 8 4 Rotary Flexible Link Module Range of Experiments amp 10 6 System Requirements amp 11 6 1 System siias 11 Index of Tables Table 1 Rotary Family EEEE 4 Table 2 Component NaM S erreser a eE E ENE OER EE ARTE 5 Table 3 Typical Connection Ssss 7 11 Table 5 FLEXGAGE SOCeI ICAIONS 11 Index of Figures Figure 1 FLEXGAGE coupled to SEV 02 5 Pig 2 Strain gage Close 5 Figure 3 Contents of FLEXGAGE 6 Attaching to the 6 Figur 5 Place tip middle 8 Figure 6 Move tip 4 slots counter 9 Page 2 Revision 01 SRV02 Series Nuova FLEXGAGE Rotary Flexible Link User Manual 1 Descr
3. e Ball amp Beam experiment requires the user to manipulate the position of a rolling ball on a beam Flexible Link The Flexible Link experiment requires the user to command a tip position of the flexible link attached to the SRV02 Flexible Joint A rigid beam is mounted on a flexible joint that rotates via the SRV02 and the user is to command the tip position of this beam Gyro Stable Platform The purpose is to maintain the line of sight of an instrument mounted on a rotating platform SRV02 Inverted Pendulum The purpose is to balance the inverted pendulum through a rotary motion arm SRV02 Double Inverted The double inverted problem adds to the complexity of the single Pendulum pendulum by introducing 2 pendulum 2 DOF robot module This experiment requires the x y positioning of the end effector 2 DOF Rotary Gantry This experiment requires the control of the swing of a x y gantry crane using a 5 DOF linkage 2 DOF inverted Balance a pendulum that is free to fall in 2 directions The pendulum is pendulum attached to the tip of the 2 DOF robot Table 1 Rotary Family Modules Page 4 Revision 01 2 System Nomenclature and Components Figure 1 amp Figure 2 below depict the FLEXGAGE module The standard FLEXGAGE is equipped with a strain gage sensor resulting in an analog signal proportional to the deflection of the tip Refer to the following table to associate the components with their corresponding photograph
4. ional Instruments E Series DAQs Any other DAQ with at least one A D one D A and one Encoder input Control Software Quanser WinCon SLX WebLab The Mathworks RTWT xPC SPACE ControlDesk National Instruments Labview RT Table 4 System Requirements 6 1 System Specifications Specification Value Table 5 FLEXGAGE Specifications Strain Gage Calibration Gain Page 11 Revision 01
5. iption The rotary flexible Link consists of a strain gage which is mounted at the clamped end of a thin stainless steel flexible link The output is an analog signal proportional to the deflection of the link The system is designed to mount on a Quanser rotary servo plant resulting in a horizontally rotating flexible link to perform flexible link control experiments This system is similar in nature to the control problems encountered in large light space structures where the weight constraints result in flexible structures that must be controlled using feedback techniques A DC motor rotates a flexible link from one end in the horizontal plane The motor end of the link is instrumented with a strain gage that can detect the deflection of the tip The rotary flexible Link is an ideal experiment intended to model a flexible Link on a robot or spacecraft This experiment is also useful in the study of vibration analysis and resonance Page 3 Revision 01 1 1 Modular Options Quanser values itself for the modularity of its experiments The SRV0O2 rotary plant module serves as the base component for the rotary family of experiments This modular philosophy facilitates the change from one experimental setup to another with relative ease of work and a valuable savings in cost The following table lists the experiments currently available in the rotary family of products utilizing the SRVO2 as the base Module Name Description Ball amp Beam Th
6. n mini DIN 5 pin Stereo DIN to 5 pin Stereo DIN 6 pin DIN to 4 pin DIN Description This cable results in delivering a 12V bias to the potentiometer and measuring the potentiometer signal voltage 52 of the UPM The terminal board should supply the encoder with the 5V and ground The load shaft position signal will then be measure on Encoder channel 0 This connects the output of the amplifier to the motor You can use a variety of cables UPM resulting in a different gain from input to output The cables available are Gain 1 Gain 3 Gain 5 From the UPM connect all the analog sensor signals to the terminal board such that S is measured on analog input 0 52 Al 1 53 Al 2 S4 AI 3 RCA to 5 pin This is the command output from the DAQ DIN that will be amplified and drive the motor Analog input channels 0 3 on the DAQ 5 pin DIN to 4x RCA Analog Signals To A D UPM input From D A Analog output channel 0 on the DAQ Table 3 Typical Connections 3 2 Calibrating the Strain Gage The FLEXGAGE uses a strain gage mounted at the base of the link to measure the deflection of the tip of the link Before the module is shipped the unit would have been fully calibrated to the correct specifications The following section will describe the calibration routine in order to ensure the unit maintains its correct calibration and thus remains operating correctly This section describe
7. s 2 et Table 2 Component Names Figure 2 Strain gage close up Page 5 Revision 01 3 System Setup and Assembly The rotary flexible Link module requires minimal assembly Figure 3 Below shows the components of the FLEXGAGE package you should have received The FLEXGAGE package includes the module itself a calibration stand and the sensor wire Note the FLEXGAGE is already pre calibrated to the correct settings Figure 3 Contents of FLEXGAGE package The only assembly required is to mount the FLEXGAGE onto the SRVO2 Make sure the 02 is configured in the High Gear configuration If you are unsure about the SRVO2 please refer to the SRVO2 User Guide Simply place the FLEXGAGE onto the load shaft middle shaft and secure the FLEXGAGE in place by tightening the 2 thumbscrews as seen in Figure 4 below Figure 4 Attaching to the SRV02 Page 6 Revision 01 3 1 Typical Connections for the SRV02 FLEXGAGE Experiment The following table describes the typical setup using the complete Quanser solution It is assumed that the FLEXGAGE is being used along with SRVO2 UPM and Q8 DAQ board From FLEXGAGE Strain Gage Component 4 SRV02 Encoder This is the load gear position measurement To Load Connector on S2 Connector on UPM Encoder 0 connector on the terminal board 6 pin mini DIN to 6 pi
8. s functional tests to determine if your FLEXGAGE sensors are operating normally It does not cover any performance tests All these tests require an understanding of Simulink or Labview WinCon or equivalent and Q8 or equivalent data acquisition board you are using You should be able to build a controller that can measure and apply desired signals Page 7 Revision 01 In the following sections it is also assumed that the FLEXGAGE is connected as described in the Typical Connections table above As you can see in Figure 4 above the FLEXGAGE circuit has 2 adjustable potentiometers One is for the Offset adjustment and the other is for the Gain adjustment Build a controller that displays the measurement from analog input 1 This is the signal connected to S2 on the UPM 3 2 1 Offset Adjustment Mount the FLEXGAGE onto the calibration stand that shipped with the module Place the tip in the middle tooth of the comb as seen in Figure 5 below Figure 5 Place tip in middle slot Your controller should be running and reading 0 Volts If there is an offset in your measurement adjust the Offset potentiometer such that your measurement reads 0 volts 3 2 2 Gain Adjustment After adjusting the measurement to its 0 measurement you should check and make sure the sensor is calibrated as desired The sensor should read 1 Volt per 1 inch of tip deflection Each slot or tooth in the calibration comb corresponds to
9. xperiment intended to model a flexible Link on a robot or spacecraft This experiment is also useful in the study of vibration analysis and resonance The model is designed to accentuate the effects of flexible links in robot control systems Such flexibility is common in lightweight robots designed for space applications The students will be exposed to control the vibrations in the link as well as dealing with higher modes of vibration FLEXGAGE Key Features High Quality Aluminum chassis with precision crafted parts High Resolution Strain Gage to sense link deflection Fully documented system models amp parameters Fast and Easy attachment to the SRV0O2 plant Open Architecture Facilitates Matlab Simulink Design Modular Design Optional High Precision Light Sensor Curriculum Topics System Modeling amp Simulation Real Time Control Full State Feedback Frequency Analysis Vibration amp Resonance Hardware in the Loop Robotics Observer Design Nonlinear Control Page 10 Revision 01 6 System Requirements amp Specifications The Rotary Flexible Link Module FLEXGAGE is designed as an attachment to the SRVO2 plant Along with the SRVO2 plant the following components are required to complete the experimental setup Component Quanser Recommended Alternative Common Configuration Power Module Quanser UPM 1503 2405 Other Power Supply that can deliver the required power Data Acquisition Quanser Q8 SPACE DS 1104 Nat
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