Industrial Robot Electrical Design
Toolpaths
Electrical Schematic Designer (gschem) > export ( __ filetype)> PCB Layout Creator (PCB) > export (gerber filetype)> G-code generator from gerber files (PCB2gcode) > export (gcode filetype) > Machine Controller (EMC2) > export (logic signals) > Machine ( __ ) > export (work)
Micro-controller
Possibility is an Arduino microcontroller Arduino Website
Solenoid Driver
Possibility is the PWM Solenoid Driver from RepRap wiki PWM Driver 1.1
Stepper Motor Driver
The stepper motor driver to be used is from Stepper Motor Controller
Shaft Encoder
Mechatronics on Digital Encoders
An absolute encoder can identify different positions of the measured shaft, but is more complex than an incremental encoder. However, an incremental encoder only provides relative position information. An incremental encoder can be used as an "absolute" one by saving the relative movement information; for instance, for day 1, joint A moves 5 degrees clockwise from the home position, then day 2, joint A moves 10 more degrees clockwise; by saving the information from day 1, the microcontroller can understand that joint A has moved a total of 15 degrees clockwise from the home position, not just 10 degrees.