Industrial Robot Electrical Design
Electrical Design Illustrated Overview
Toolchain for 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 (such as the Arduino Mega 2560) Arduino Website
The microcontroller will need 6 analog outputs with PWM to give signals to the solenoid drivers.
The microcontroller will need X ___ outputs ___ to give signals to the stepper motor drivers.
The microcontroller will need X ___ inputs ___ to receive signals from the shaft encoders.
The microcontroller will need a universal serial bus (USB) port to interface with the computer.
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
An off-the-shelf example is the Adafruit Arduino Motor Shield Robotshop's product info on adafruit arduino motor shield
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.