SRV02_Flexible Joint_User Manual
Contents
1. 5 pin Stereo DIN to 5 pin Stereo DIN 5 pin Stereo DIN to 5 pin Stereo DIN 6 pin DIN to 4 pin DIN 5 pin DIN to 4x RCA RCA to 5 pin DIN Page 10 Description This cable results in delivering a 12V bias to the potentiometer and measuring the potentiometer signal voltage on S3 of the UPM The terminal board should supply the encoder with the 5V and ground The arm signal will then be measure on Encoder channel 1 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 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 S2 Al 1 S3 Al 2 S4 AI 3 This is the command output from the DAQ that will be amplified and drive the motor Revision 01 4 4 Testing the ROTFLEX or ROTFLEX E Sensor This section describes functional tests to determine if your ROTFLEX 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 desired2. 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 11 Revision 01 5 Rotary Flexible Joint Module Range of Experiments amp Features The rotary flexible joint is an ideal experiment intended to model a flexible joint on a robot or spacecraft This experiment is also useful in the study of vibration analysis and resonance The student will be exposed to an interesting experiment where they will design a controller to dampen the oscillations of the arm by varying the voltage to the SRV02 motor ROTFLEX Key Features High Quality Aluminum chassis with precision crafted parts High Resolution Encoders to sense arm position Variable Loads and Spring Anchors Variable Spring Stiffness Fully documented system models amp parameters Fast and Easy attachment to the SRV02 plant Open Architecture Facilitates Matlab Simulink Design Modular Design 112 Distinct Configurations 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 12 Revision 01 6 System Requirements amp Specifications The Rotary Flexible Joint Module ROTFLEX is designed as an attachment to the SRVO2 plant Along with the SRVO2 plant the following components are requi
3. Revision 01 2 1 Modular Options Quanser values itself for the modularity of its experiments The SRVO2 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 The 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 a 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 inve
4. frame and is designed to mount to a Quanser rotary servo plant The sensor shaft is aligned with the motor shaft One end of a rigid link is mounted to the sensor shaft The link rotation is counteracted by two extension springs anchored to the solid frame resulting in an instrumented flexible joint The spring anchor points are adjustable to three locations to obtain various stiffness constants Three types of springs are supplied with the system resulting in a total of 9 possible stiffness values The link is also adjustable in length thus allowing for variations in inertia This system is similar in nature to the control problems encountered in large geared robot joints where flexibility is exhibited in the gearbox A rigid beam is mounted on a flexible joint that rotates via a DC motor The joint deflection is measured using a sensor The rotary flexible joint is an ideal experiment intended to model a flexible joint on a robot or spacecraft This experiment is also useful in the study of vibration analysis and resonance 2 Purchase Options The rotary flexible joint is equipped with a sensor to measure the arm s angular position The module can be equipped with either an analog potentiometer or an optical encoder Model Option Description ROTFLEX Basic Unit Potentiometer to sense arm s angular position E Option Encoder Option 1024 line optical encoder to sense arm s angular position Table 1 ROTFLEX Options Page 3
5. signals In the following sections it is also assumed that the SRVO2 is connected as described in the Typical Connections table above ROTFLEX with potentiometer sensor Build a controller that measures analog input 2 Make sure the sensor is connected to S3 on the UPM Apply a gain block to the signal with a gain of 35 2 352 over a 10V range With the controller running you should be seeing the Arm s angular position The signal should read 0 when the arm is at its equilibrium middle position and should vary by 40 between the 2 hard stops e ROTFLEX E with encoder sensor Build a controller that measures encoder channel 1 Make sure the sensor is connected to encoder channel 1 on the terminal board Apply a gain block to the signal of 360 4096 the encoder generates 4096 counts per revolution With the controller running you should be measuring the angle of the Arm You will realize that the reading is at 0 at the location that the Arm was in when the controller started The signal should read 0 when the arm is at its equilibrium middle position and should vary by 40 between the 2 hard stops Validate that your sensor is behaving according to the normal operation stated above If the measurements are not as expected please refer to Table 4 and make sure the connections are made as specified For technical support referring to any of the ROTFLEX components please visit us on the web at www Quanser com
6. Digital Optical Kit Encoder It offers high resolution 4096 counts in quadrature and measures the relative angle of the arm as opposed to the potentiometer which only measure an absolute angle from a pre defined 0 location Page 9 Revision 01 The Encoder sends a digital signal and should be directly connected to a Quanser terminal board using a standard 5 pin DIN cable DO NOT connect the encoder signal to the UPM Schematic 1 Is the wiring diagram of the encoder ELP CON ENCODER ELP SCKT RDIN 3 180 ELP ENC USD E2 1024 Schematic 1 Encoder Wiring 4 3 Typical Connections for the SRV02 ROTFLEX Experiment The following table describes the typical setup using the complete Quanser solution It is assumed that the ROTFLEX is being used along with an SRVO2 UPM and Q8 DAQ board From ROTFLEX Potentiometer Component 9 Only required on the ROTFLEX model ROTFLEX E Encoder Component 4 Only required on the ROTFLEX E model SRV02 Encoder This is the load gear position measurement To Load Connector on UPM Analog Signals To A D Only required if using analog sensors Analog output channel 0 on the DAQ S3 Connector on UPM Encoder 1 connector on the terminal board Encoder 0 connector on the terminal board Analog input channels 0 3 on the DAQ UPM input From D A Table 4 Typical Connections 6 pin mini DIN to 6 pin mini DIN
7. Family Walesa x ccie esecvvauaca sss vcanwssiauesecynnecaieevaceeuasedancaiaueashinshineioioaivineacmmanenaies 4 Table 3 Component Names ssiissrsseerie iani ieniia irar N EEA E SEA ESENES IN EAREN REE 5 Table 4 Typical Connection Sisir ein REKA E EEE EE EARE ETER 10 Table S System Requirements sissisceiite reiii EEE EEE E ACSEE RAEE ESEE 13 Table6 ROTFLEX Specifications s peassstnoasssiceasbesaasnadacdediaadsatavasnuhacdedeonsiieendsauitesstaenternsesauaseeuneen 13 Index of Figures Figure 1 ROTEFLEX top View i ccataccan cess veshvceoatineceusiratea nde EEA AARTE AE E TEN EERTE 5 Figure 2 ROTFLEEX side Vi Wisiri ranieri a KERRE TEEN 5 Figure 3 Contents of ROTFLEX package esesessseeesesseeseesressessresseesesresstesseserssessessreeseeseesressee 6 Figure 4 Attaching to the SRV O2 nis csrssiaii ainina NEA aaa cee 6 Figore 3 ROTLFEX Model RE E TE E EERE ATE EEE AEE Aa EERE T Figure 6 Step 1 Attached both springs to arm anchor point s sesssessessessesseseesseesessressessesressee 8 Figure 7 Step 2 Selecting a base anchor POitt iss ccssccsnsrsacscesasscasnssaderivsssncacdedssnessoecciascndendiscanessnasad 8 Figure 8 Step 3 Pull the arm towards the final anchor point 0 ceeceeseeeeeseceteceeeeeeeeeeeaeceseeaeeees 9 Page 2 Revision 01 SRV02 Series Soo ROTFLEX Rotary Flexible Joint User Manual 1 Description The rotary flexible joint consists of a rotary sensor mounted in a solid aluminum
8. Q SRV02 Series QUAN S ER Rotary Flexible Joint User Manual Table of Contents k MG HOI ee reen E E E E E entire O denna 3 2 Purchase OPNS gcse svat xs cas werensiea tease ewtetey carencna naate a ERE Eae eaaa ARTN aR eei ta eee 3 2 1 Modular OUNCES sis acsaccainaniindanvswuiaeenaien dinate saseteayeunnnitncaneeaeninenunteainmntnionstnineuree meartintnaee 4 3 System Nomenclature and Componentts ssccsssscssercssonsesecssessensscescceseccssacssnssenseesscesaces 5 4 System Configuration and ASSEME IV 5c sicsivansapeumsanstsoendsinedsudensussarsy duesdeusraayysentas ein iewstpaaiieeadives 6 4 1 Changing CS sprint Senpene arii e E a E E 8 4 2 Potentiometer Component 9 srrss sintonian i i ae 9 4 2 Encoder Component 4 soens a E i ER EE A E 9 4 3 Typical Connections for the SRV02 ROTFLEX Experiment seeeeeeeeseeeeseesseeesereseee 10 4 4 Testing the ROTPLEX or ROTFLEX E Sens Or iis scsesscasssvectacrsedesinieciebedraeneninaieasiens 11 5 Rotary Flexible Joint Module Range of Experiments amp Features cccecceesseeeteeeteeeees 12 6 System Requirements amp SPSCITICAU OMS sxcevicscasnnedacasndaarenienstnidacumenea athe eeceaRN 13 Gl System SOSC HCA OMS ss sussssencasashccaacsacanceneasasnesodsneraceacevedsnastanpoesaghan lesoataesataanceinsaianuninguiss 13 Index of Tables Table 1 ROTFLEX BGI 25 vonsccoseincaseedie old cauvaccasbncacuicadeapiactaebees EEEE I ine 3 Table 2 Rotary
9. in the thumbscrew into the desired base anchor point as seen in below Figure 7 Step 2 Selecting a base anchor point Page 8 Revision 01 Finally pull the arm toward the other base anchor point you will feel some resistance from the other spring Screw the remaining thumbscrew into the desired base anchor point Make sure it is the same point the other spring is in Figure 8 Step 3 Pull the arm towards the final anchor point 4 2 Potentiometer Component 9 The standard rotary flexible joint module ROTFLEX uses a potentiometer to sense the arm angle The model used is a Vshay Spectro model 132 potentiometer It is a single turn 10k Ohm sensor with a range of approximately 45 due to the physical restrictions in the fixture Its electrical range is 352 degrees It is biased such that a 12 V supply results in a 5 V range over the full range of 352 degrees Under normal operations terminal three should measure 5 V while terminal 1 should measure 5 V The actual signal is available at terminal 2 The sensor connection is a 6 pin mini DIN which is designed to be connected to a Quanser UPM Universal Power Supply The UPM delivers the bias voltage for the potentiometer 12 V and the sensor signal is then available on the corresponding analog input 4 2 Encoder Component 4 The ROTFLEX E options come with an optical encoder used to measure the arm s angular position The model used is a US
10. red 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 National 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 5 System Requirements 6 1 System Specifications Specification Table 6 ROTFLEX Specifications Potentiometer Bias Power Page 13 Revision 01
11. rted 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 2 Rotary Family Modules Page 4 Revision 01 3 System Nomenclature and Components Figure 1 amp Figure 2 below depict the ROTFLEX E module The standard ROTFLEX is equipped with a potentiometer instead of an encoder as the sensor Refer to the following table to associate the components with their corresponding photographs ROTFLEX am sented Aan sensor Encode o sensor Comesor Table 3 Component Names Figure 2 ROTFLEX side view Page 5 Revision 01 4 System Configuration and Assembly The rotary flexible joint module requires minimal assembly Figure 3 Below shows the components of the ROTFLEX package you should have received Note the 2 sets of springs Each set has a different spring constant resulting in 3 sets of springs each with their own stiffness Ses Dp gt on eae Figure 3 Contents of ROTFLEX package The only assembly required is to mount the ROTFLEX onto the SRV0O2 Make sure the SRV02 is configured in the High Gear configuration If you are unsure about the SRVO2 please refer to the SRVO2 User Guide Simply place the ROTFLEX onto the load shaft middle shaft and secure the ROTFLEX in place by tightening the 2 thumbscrews as seen in Figure 4 below Figure 4 Attaching to the SRV02 Page 6 Re
12. vision 01 Figure 5 Below is a model depicting the rotary flexible joint The ROTFLEX module has been designed to allow many configurations As you can see in Figure 5 there are 3 anchor positions on the arm as well as 3 anchor positions on the body By attaching the springs in different anchor points it is possible to realize a wide range of spring constants of the joint There is also an additional load arm provided with the system that allows for variable load inertias Coupled with the 3 sets of springs each with a different spring constant there are 112 distinct system dynamics attainable with this module Main Extra Arm Arm Anchor Points Armm 4 Anchor 2 Points 333 Body Aal Anchor B Points C Figure 5 ROTLFEX Model Page 7 Revision 01 4 1 Changing the springs The following images will illustrate the proper way to insert a new set of springs or change spring anchor locations In order to maintain proper system dynamics the springs and anchor positions should be symmetric i e Do not use 2 springs of different stiffness and make sure both body anchor points are the same Using the stiffest set of springs might require some extra effort to insert into the anchor points Take both springs make sure they are of the same pair and insert the thumbscrew through the ends of both springs Screw the thumbscrew into the desired arm anchor point Turn the arm towards you and screw
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