An experimental electronic interface design for a two-link elastic robotic arm

Abstract

Trying to record vibration of an elastic arm for identifying behavior of robot, is one of important case studies in mechatronic science. So in this paper designing an electrical interface with a six channel strain gage data logger, is presented. The high speed vibration of a flexible robotic arm compared to the low speed of software and hardware interface between the computer and experimental setup is one of the most important obstacles for measuring and control of such a systems. In this paper, a combination of using high speed digital to analog convertor (DAC) components on an electrical interface board and using National Instrument's LABVIEW software package is proposed as a solution for this problem. Dynamic modeling of the system is developed based on Gibbs-Appell (G-A) formulation and Assumed Mode Method (AMM). An experimental setup of a Two-link elastic robotic arm is prepared and the electrical interface board works between this experimental setup, user and computer. The input data by the electrical interface board are the number of mode shapes up to 4 for one-link elastic arm and 2 for two-link elastic arm and the profile of the input torque via time. Then these data transferred to the Elastic arm robotic system. Finally user can see the vibration of the elastic link in graphical interface environment and model validation carried out by comparing both experimental and theoretical results.