Robot Joint Torque Tester (Page in progress)
Torque Tester Block Diagram
Torque Tester Block Diagram
24V power supply: Powered the motor controller and torque sensor
75B power supply: Powered the motors
100:1 Gearbox: Allowed motor to operate consistently at higher speeds without variations due to at high torque areas
NI DAQ: Data collection device
Key Design Features
Key Design Features
Motor Homing
Motor Homing
In order to home the motor a cam lobe and limit switch mechanism was used
Prototyping
Prototyping
Rapid prototyping via 3D printing was used to verify fit and function of parts for a relatively low cost
Final Assembly
Final Assembly
Joint Friction Data
Joint Friction Data
GUI was done in python and allowed user to run tests and save data easily. This data was later analyzed using custom metrics to identify issues.
Skills Used: Solidworks, GD&T, 3d Printing, Python