USER MANUAL Flexible Joint Experiment Set Up and Configuration
CAPTIVATE. MOTIVATE. GRA DUATE.
c 2012 Quanser Inc., All rights reserved. ⃝ Quanser Inc. 119 Spy Court Markham, Ontario L3R 5H6 Canada
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CONTENTS 1
Presentation
4
2
Components 2.1 Component Nomenclature 2.2 Component Description
5 5 6
3
System Specifications
7
4
System Setup 4.1 Assembly 4.2 Changing the Springs
8 8 8
5
Wiring Procedure 5.1 Cable Nomenclature 5.2 Typical Connections
10 10 11
6
Testing and Troubleshooting 6.1 SRV02 Motor and Sensors 6.2 Testing the ROTFLEX Arm Angle Sensor 6.3 Troubleshooting
13 13 13 13
7
Technical Support
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PRES PR ESEN ENT TATI TION ON
The Quanser Rotary Flexible Joint module, pictured in Figure 1.1, consists of a rigid beam mounted on a flexible joint that t hat rotates via a DC motor. The joint deflection is measured using a sensor. This module is designed to mount to a Quanser Quanser rotary servo plant (SRV02). (SRV02). The sensor shaft is aligned with the motor shaft. One end of a rigid link is mounted mounted to the sensor shaft. The link rotation is counteracted counteracted by two extension extension springs anchored anchored to the solid frame result resultin ing g in an instru instrume ment nted ed flexi flexibl ble e join joint. t. The The sprin spring g anch anchor or poin points ts are adjus adjusta table ble to three three loca locatio tions ns to obta obtain in vario various us stiffness stiffness constants. constants. Three types of springs are supplied with the system resulting in a total of 9 possible possible stiffness stiffness values. values. The link is also adjustable adjustable in length thus allowing allowing for variations variations in inertia.
Figure 1.1: Rotary Flexible Flexible Joint system This system is similar in nature to the control problems encountered in large geared robot joints where flexibility is exhibited exhibited in the gearbox. gearbox. The Rotary Flexible Flexible Joint is an ideal experiment experiment intended intended to model a flexible flexible joint on a robot or spacecraft. spacecraft. This experiment experiment is also useful in the study of vibration vibration analysis and resonance resonance.. The SRV02 SRV02 Rotary Flexible Flexible Joint module is equipped with a1024 line optical optical encoder to sense arm's angular position. position. Caution: n: Cautio
This This equipment equipment is designed designed to be used for educatio educational nal and researc research h purposes purposes and is not intended for use by the general public. The user is responsible to ensure that the equipment will be used by technically qualified personnel only.
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COMPONENTS
The Rotary Flexible Joint components components are identified in Section 2.1. Some of those components components are then described in Section 2.2.
2.1
Compo Com ponen nent t Nomen Nomencla clatur ture e
The components of the Rotary Flexible Joint module are listed in Table 2.1 below and labeled in Figure 2.1 and Figure 2.2. ID # 1 2 3 4 5
Component ROTFLEX base Th T humbscrews ROTFLEX arm Arm sensor (Encoder) Base anchor points
6
Arm anchor points
ID # 7 8 9 10 11 12
Component Springs Ad A djustable load Encoder connector ROTFLEX pivot Adjustable load points SRV02
anchor
Table 2.1: Listing of ROTFLEX Components
Figure 2.1: ROTFLEX Components - Top View
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Figure 2.2: ROTFLEX ROTFLEX Components Components - Back View when installed installed on SRV02 SRV02
2.2 2.2.1 2.2 .1
Compo Com ponen nent t Descr Descript iptio ion n Enco En coder der
The ROTFLEX option comes with an optical encoder used to measure the arm's angular angular position. The model used is a US Digital Optical Kit Encoder. Encoder. It offers high resolution resolution (4096 counts in quadrature), quadrature), and measures the relative angle angle of the arm. The interna internall wiring wiring of the encoder encoder and the 5-pin 5-pin DIN connec connector tor on the ROTFLEX ROTFLEX module module is illustrated illustrated in Figure 2.3. Caution: The Encoder sends a digital signal and should be directly connected to a Quanser Quanser terminal board using a standard 5-pin DIN cable. DO NOT connect the encoder signal signal to the amplifier .
Figure 2.3: Encoder Wiring
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SYST SY STEM EM SP SPEC ECIF IFIC ICA ATI TION ONS S
Table 3.1, below, lists and characterize characterizes s the main parameters parameters associated with the ROTFLEX ROTFLEX module. Some of the parameters listed in Table 3.1 are used in the mathematical model. Symbol L1 L2 d12 d12 d12 m1 m2 K enc K 1 K 2 K 3
Description Module Dimensions Main arm length Load arm length Distance between joint to middle of load arm Arm Anchor Point 1 Arm Anchor Point 2 Arm Anchor Point 3 Module body mass Main arm mass Load arm mass Enco Encod der reso resolu luti tion on (in (in quad quadra ratu ture re mode mode)) Spring #1 stiffness Spring #2 stiffness Spring #3 stiffness
Value 10 x 8 x 5 29.8 15.6 21.0 23.5 26.0 0.3 0.064 0.03 409 4096 187 313 565
Unit cm 3 cm cm cm cm cm kg kg kg Coun Counts ts/R /Rev ev N/m N/m N/m
Table 3.1: Rotary Flexible Joint specifications. Figure Figure 3.1 3.1 is a mode modell depi depict ctin ing g the the Rota Rotary ry Flex Flexib ible le Join Jointt syst system em.. The The ROTF ROTFLE LEX X modu module le has been desig designe ned d to allow low many many confi configu gura rati tion ons. s. As show shown n in Figu Figure re 3.1, 3.1, ther there e are are thre three e anch anchor or posi positi tion ons s on the the arm arm as well well as thre three e anch anchor or posi positi tion ons s on the the body body.. The The forc force e exer exerte ted d by the the spri spring ngs s can can be vari varied ed by atta attach chin ing g the the spri spring ngs s in diff differ er-ent ent anch anchor or poin points ts.. The The ROTF ROTFLE LEX X syst system em is also also supplie supplied d with three sets of springs springs of different different stiffness constants constants (values ues shown hown in Table able 3.1) 3.1).. The The sec seconda ondary ry load load arm attache taches s unde undern rnea eath th the the main main arm and and can can be conn connec ecte ted d to diffe differe rent nt anch anchor or poin points ts,, allo allowin wing g the tota totall arm arm leng length th to be changed.
The spring anchor locations, variable load length, and springs with different stiffnesses allows for many configurations.
Figure 3.1: Rotary Flexible Flexible Joint Module
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SYSTEM SETUP
The Rotary Flexible Joint module requires minimal assembly. The ROTFLEX system contains the following components: •
Quanser ROTFLEX module
•
3 sets of springs with differents stiffnesses (in Table 3.1).
•
Encoder cable
See Section 4.1 for instructions instructions on how to assemble the Rotary Flexible Joint system. Then, go through the procedure discussed in Section 4.2 to change the springs if desired. Caution: If the equipment is used in a manner not specified by the manufacturer manufacturer,, the protection protection provided provided by the equipment may be impaired.
4.1 4. 1
Asse As semb mbly ly
1. Before Before startin starting, g, ensure ensure the Quanse Quanserr Rotary Rotary Servo Servo (SRV02 (SRV02)) is setup setup in the high-g high-gear ear config configura uration tion,, as discus discussed sed in SRV02 User Manual [1]. 2. Slide middle hole on the bottom of the ROTFLEX module base onto the load shaft of the SRV02. 3. Fasten Fasten the ROTFLEX ROTFLEX module module on the top of the gears gears using using the two thumbsc thumbscrew rews, s, as shown in Figure 4.1 (highlighted in red).
Figure 4.1: Attach ROTFLEX ROTFLEX to SRV02 SRV02 using thumb screws
4.2 4. 2
Chan Ch angi ging ng the the Sprin Springs gs
The following is the procedure procedure to properly properly insert a new set of springs springs or change change spring anchor locations. locations. In order to maintain proper system dynamics, dynamics, the springs springs and anchor anchor positions should be symmetric. Do not use springs of different different stiffness values and make sure both body anchor points are the same.
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Note: Using the stiffest set of springs might require require extra effort to insert into the anchor anchor points. points. 1. Take both springs (make sure they are of the same pair) and insert the thumbscrew thumbscrew through the ends of both springs. Screw the thumbscrew into the desired point on the anchor arm (ID #6) in Figure 2.1. 2. Turn Turn the arm towards towards you and screw in one side's thumbscrew thumbscrew into the desired base anchor anchor point (ID #5) in Figure 2.1. 3. Finally Finally, pull the arm toward the other base anchor point (you will feel some resistance resistance from the other spring). spring). Screw the remaining thumbscrew into the desired base anchor point. Make sure this anchor point is the same point the other spring is in.
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WIR IRIING PRO PROCEDURE
The following is a listing of the hardware components used in this experiment: •
Power Amplifier: Quanser VoltPaq-X1, or equivalent.
•
Data Acquisition Board: Quanser Quanser Q2-USB, Q8-USB, QPID, QPIDe, or equivalent equivalent supported supported DAQ.
•
Rotary Servo Plant: Quanser SRV02, SRV02-T, SRV02-E, SRV02-EHR, or SRV02-ET.
•
Rotary Flexible Joint: Quanser ROTFLEX Module.
The cables required to setup the ROTFLEX system is described in Section 5.1 and the procedure to connect the above components components is given in Section 5.2.
Caution: When using a Quanser VoltPAQ VoltPAQ power amplifier, make amplifier, make sure you set the Gain to 1! 1!
5.1 5. 1
Cabl Ca ble e Nomen Nomencl clat atur ure e
Table 5.1, below, provides a description of the standard cables used in the wiring of the ROTFLEX system. Cable
Type 2xRC 2xRCA A to 2xRC 2xRCA A
Description This This cabl cable e conn connec ects ts an anal analog og outp output ut chan channe nell of the the data acquisition terminal board to the power module for proper power amplification.
4-pin-D 4-pin-DIN IN to 6-pi 6-pin-DI n-DIN N
This This cable cable connec connects ts the output output of the power power module module,, after amplification, to the desired DC motor on the servo.
5-pin-stereo-DIN to 5-pinstereo-DIN
This cable carries the encoder signals between an encode encoderr connec connector tor and the data data acquis acquisitio ition n board board (to the encode encoderr counte counter). r). Namely Namely,, these these signal signals s are: are: +5 VDC power supply, ground, channel A, and channel B
(a) RCA Cable
(b) Motor Cable
(c) Encoder Cable
Table 5.1: Cables required for setup
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5.2
Typi ypical cal Conn Connect ection ions s
This section describes the typical connections used to connect the Quanser Rotary Flexible Joint system to a data acquisition acquisition device and a single-channel single-channel power amplifier. amplifier. The connections connections are given in Table 5.2 and illustrated in Figure 5.1. The connection connection procedure procedure details is given below as well. Cable # 1 2 3 4
From
To
Signal
Terminal Board: Analog Output #0 Amplifier ''To Load'' Connector Terminal Board: Encoder Input #0 Terminal Board: Encoder Input #1
Amplifier ''Command'' Conector
Control signal to the amplifier.
SRV0 SRV02 2 ''Mo ''Moto tor' r''' Conn Connec ecto torr
Powe Powerr lead leads s to the the SRV0 SRV02 2 DC motor. Serv Servo o load load shaf shaftt angl angle e meas measur ureement. Flexib Flexibe e joint joint angle angle measur measureement.
SRV0 SRV02 2 ''En ''Enco code der'' r'' Conn Connec ector tor ROTFLE ROTFLEX X ''Enco ''Encoder der'''' Connec Connector tor
Table 5.2: ROTFLEX system connections
Figure 5.1: ROTFLEX system connections diagram
Follow these steps to connect connect the ROTFLEX ROTFLEX system:
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1. It is assumed assumed that the Quanser DAQ board is already installed as discussed discussed in [2]. If another data-acquisiti data-acquisition on device device is being used, e.g. NI M-Series board, board, then go to its corresponding corresponding documentatio documentation n and ensure it is properly installed. 2. Make sure everything everything is powered off before before making any of these connections. connections. This includes includes turning off your PC and the amplifier. 3. Connec Connectt one of the connec connector tors s on the 2x RCA to 2x RCA cable cable from from the Analog Output Channel #0 on #0 on the terminal terminal board to the Amplifier the Amplifier Command Connector Connector on the Quanser amplifier. amplifier. See cable #1 shown in Figure 5.1. 4. Connect Connect the 4-pin-stereo 4-pin-stereo-DIN -DIN to 6-pin-stereo-D 6-pin-stereo-DIN IN from To from To Load connector Load connector on the amplifier to the Motor con Motor connector on the SRV02. See connection #2 shown in Figure 5.1. The cable transmits the amplified voltage that is applied to the SRV02 motor. 5. To use the encoder to measure the load gear angle connect the 5-pin-stereo-DIN 5-pin-stereo-DIN to 5-pin-stereo-DIN 5-pin-stereo-DIN cable from the Encoder Encoder connector on the SRV02 panel to Encoder Input Channel #0 on #0 on the terminal board, as depicted depicted by connection connection #3 in Figure 5.1. This carries the load shaft angle measurement measurement by the encoder. encoder. Caution: Any encoder encoder should be directly directly connected to the Quanser terminal board (or equivalent) equivalent) using a standard 5-pin DIN cable. DO NOT connect connect the encoder encoder cable to the amplifier! amplifier!
6. Connect Connect the connector connector on the ROTFLEX directly to Encoder to Encoder Input Channel #1 on the terminal board, as depicted by connection connection #4 in Figure 5.1. It carries the arm angle measured by the encoder. encoder.
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TESTING AND TROUBLESHOOTING
This section describes some functional tests to determine if your ROTFLEX is operating normally. It is assumed that the system is connected as described described in the Section 5.2, above. Software Software such as QUARC or LabVIEW LabVIEWTM can be used to test the sensor readings and apply voltages voltages to the motor. motor. Alternatively Alternatively,, these tests can be performed with a signal generator and an oscilloscope.
6.1 6. 1
SRV0 SR V02 2 Mo Moto tor r an and d Se Sens nsor ors s
Please refer to [1] for information on testing and troubleshooting the SRV02 separately.
6.2 6. 2
Tes esti ting ng the RO ROTF TFLE LEX X Ar Arm m An Angl gle e Se Sens nsor or
Follow this procedure to test the ROTFLEX encoder: 1. Measur Measure e Encoder Input Channel #1 using, for instance, instance, the QUARC software. software. 2. Rota Rotate te the ROTF ROTFLE LEX X arm, arm, comp compon onen entt #3 in Figu Figure re 2.1, 2.1, slig slightl htly y back back-a -and nd-fo -forth rth and and veri verify fy that that your your are are obta obtain ining ing a reading. 3. If it is meas measur urin ing, g, make make sure sure it is read readin ing g the the corre correct ct angl angle. e. For For exam exampl ple, e, rota rotate te the the arm arm 30 degre degrees es and and ensu ensure re you are reading 30 degrees, which is about 341 counts in quadrature mode, in the software. Note: Some data acquisition acquisition systems do not measure in quadrature and, in this case, one-quarter of the expected counts counts are received, received, i.e. 1024 counts. counts. In addition, some data acquisition acquisition systems measure measure in quadraquadrature but incremen incrementt the count count by 0.25 (as oppose opposed d to having having an integer integer number number of counts). counts). Make Make sure sure the details details of the data-acquisitio data-acquisition n system being used is known. The counters on the Quanser Quanser DAQ boards boards measure in quadrature and therefore therefore a total of four times the number of encoder lines per rotation, e.g. a 1024-line encoder encoder results in 4096 integer counts for every full rotation.
6.3
Troub roublesh leshoot ooting ing
Follow Follow the steps steps below if the encoder encoder on the ROTFLEX ROTFLEX model model is not measur measuring ing properly properly:: If the encoder encoder is not measuring properly, go through this procedure: •
•
Check that the data-acquisition data-acquisition board is functional, functional, e.g. ensure it is properly connected, connected, that the fuse is not burnt. Check that both the A and B channels from the encoder are properly generated and fed to the data-acquisition device. device. Using an oscilloscope oscilloscope,, there should be two square square waves, signals A and B, with a phase shift of 90 degrees degrees.. If this is not observe observed d then the encode encoderr may be damaged damaged and need to be replac replaced. ed. Please Please see Section Section 7 for information information on contacting contacting Quanser for technical technical support.
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TEC TE CHN HNIC ICA AL SUPP SUPPO ORT
To obtain support from Quanser, go to http://www.quanser http://www.quanser.com/ .com/ and and click on the Tech Tech Support Support link. Fill in the form with all the requested software and hardware information as well as a description of the problem encountered. Also, make sure your e-mail address and telephone number are included. Submit the form and a technical support representative will contact you.
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REFERENCES [1] Quanser Quanser Inc. Inc. SRV02 User Manual , 2009. [2] Quanser Quanser Inc. Inc. Q2-USB Data-Acquisition System User's Guide, Guide , 2010.
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Over ten rotary experiments for teaching fundamental and advanced controls concepts Rotary Servo Base Unit
Ball and Beam
2 DOF Inverted Pendulum
Flexible Joint
Inverted Pendulum
Double Inverted Pendulum
2 DOF Gantry
Gyro/Stable Platform
Multi-DOF Torsion
Flexible Link
2 DOF Robot
2 DOF Ball Balancer
Quanser’s rotary collection allows you to create experiments of varying complexity – from basic to advanced. Your lab starts with the Rotary Servo Base Unit and is designed to help engineering educators reach a new level of efficiency and eectiveness in teaching controls in virtually every engineering discipline including electrical, computer, mechanical, aerospace, civil, robotics and mechatronics. For more information please contact
[email protected]. ©2012 Quanser Inc. All rights reserved.
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