Two Degree of Freedom Direct Drive Robot

Equipment:
 
 
 
 

Funding Source:
 
 
 
 

Designer: 
(i) 
(ii)
(iii) (iv) (v)

(i)
(ii)
(iii) (iv) (v)
 

(i)
(ii) 
one two degree of freedom planer robot 
variable mechanical impedance machine 
PC 386 microcomputer 
LORD Force/torque sensor
laser printer

NSERC Operating Grant Connaught Fund
Department support 
Connaught Fund 
in-kind equipment from Northern Telecom 
equipment purchased with excess funds from MRCO 
grant of Prof. A. Goldenberg

K. Tse (fourth year thesis)
D. Lokhost (M.A.Sc.)

 

 The following figure illustrates this equipment. This facility has proven 
 itself to be extremely easy to use, due to its carefully designed software 
 interface, and has been used by a large number of graduate students and 
 undergraduates. These users consist of:

 

 
 Student Degree Supervisors

J. Pan
G.J. Liu
D. Lokhorst
Y. Lawryshyn
G. Yanovski
C. Chan
S. Chen
T. Kwan
K. Wong
P. Chung
P. Li
P. Loo
R. Tsang
A. Cheung 
Ph.D.
Ph.D.
M.A.Sc.
M.A.Sc.
M.Eng.
B.A.Sc. (undergraduate thesis) 
B.A.Sc. (undergraduate thesis)
B.A.Sc. (undergraduate thesis)
B.A.Sc. (undergraduate thesis)
B.A.Sc. (undergraduate thesis)
B.A.Sc. (undergraduate thesis)
B.A.Sc. (undergraduate thesis)
B.A.Sc. (undergraduate thesis)
B.A.Sc. (undergraduate thesis) 
Van de Vegte/Mills
Goldenberg
Mills
Mills
Davison (Elec. Eng.)
Mills
Mills
Mills
Mills
Mills
Mills
Mills
Mills
Mills 

 

     Work was initiated on the design of this facility by K. Tse, a fourth year thesis student, and was completed by D. Lokhorst, a M.A.Sc. student. Electronic work was carried out by Mr. P. Kuzan, an electronics engineer employed with the Robotics and Automation Laboratory. 
     Experimental work to verify the stability and performance of both contact and noncontact robot control laws is conducted with this equipment. The presence of a device to mechanically stimulate the dynamics of different of objects enhances the usefulness of this equipment considerably. Currently, the mechanical structure of the robot was redesigned to permit experimental work to be done investigating the effect of robot link structural compliance on stability of the robot during contact tasks.


2 Degree of Freedom Direct Drive Robot