The Rotary Flexible Joint experiment is ideal for studying concepts encountered in large geared robot joints with flexibility exhibited in the gearbox, as well as concepts related to control of vibration and resonance, and modelling flexible joints on robots or spacecraft.
The Rotary Flexible Joint module consists of a rigid link with adjustable length mounted on a flexible joint , and an encoder measuring the deflection of the joint. The module attaches to the Rotary Servo Base Unit, rotating the rigid link in a horizontal plane. The link rotation is counteracted by two extension springs, resulting in an instrumented flexible joint. The module is supplied with three types of springs with different stiffness.
Courseware
Modelling Topics
- Lagrange derivation
- State-space representation
- Model validation
- Parameter estimation
Control Topics
- State-feedback control using pole placement
- Vibration control
Device specifications:
- Dimensions of the Rotary Flexible Joint module (L x W x H): 10 x 8 x 5 cm
- Weight of the Rotary Flexible Joint module: 0.3 kg
- Rigid link length: 29.8 cm
- Link extension length: 15.6 cm
- Encoder resolution (in quadrature): 4096 counts/rev
- Spring 1 stiffness: 187 N/m
- Spring 2 stiffness: 313 N/m
- Spring 3 stiffness: 565 N/m
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