A Vertically Intersected Dual Axes Modularized Actuator System (DAMA)

A Vertically Intersected Dual Axes Modularized Actuator System (DAMA) designed for humanoid robots is developed in this paper. The DAMA consists of two independent joint systems, joint 01 and joint02. Joint 01 uses a harmonic drive while joint02 uses a cable arrangement. Based on the simulations of ADMAS and MATLAB software packages, the system dynamic properties can be observed. The system structure is further refined using finite element analysis. In addition, the hardware and software control systems of DAMA are developed. The architecture of hardware is composed of notebook computer, a USB to RS-232 module, an RS-232 to CAN Bus Module and two independent-joint controller modules. The software control system (user interface) is written by Visual C++ 2005 to enable users to manipulate a two-axial robot easily. The system employs a simple, but effective, PID scheme to independently control the DAMA´s two joints. The experimental result shows that, for an S curve input position command, the DAMA´s two independent joints rotate and track the command well. Hence, DAMA can be used as a generic module for a multiple degree-of-freedom system.