High-precision position detection of joint and status monitoring of speed reduction gearbox (SRG) are two key technologies in the research and development of selective compliant assembly robot arm (SCARA). The existing schemes have some problems, such as the large occupation of space, high cost, complex implementation, lack of status monitoring, etc. Therefore, first, in order to get the accurate position information of joint when the SCARA is powered up at the first time, a new combined incremental encoder with unevenly distributed multiple indexing signals and initial position detection method is proposed. Second, in order to get the accurate position information and monitor the operation status of the SRG during the positioning operation, a real-time position detection and status monitoring method based on the transmission error using dual incremental encoder is proposed. The general design principle has been given, and various experimental results have confirmed the effectiveness of the proposed solution. The proposed new combined incremental encoder has the advantage of small occupied space, easy realization, and low cost. The proposed position detection and status monitoring method not only realizes the high-precision detection of the joint position but also provides the key data for the monitoring of the running state of the SRG.
Bibliographical noteFunding Information:
Manuscript received February 28, 2020; revised June 7, 2020 and August 9, 2020; accepted September 11, 2020. Date of publication September 22, 2020; date of current version June 15, 2021. Recommended by Technical Editor T. Shimono and Senior Editor W. J. C. Zhang. This work was supported in part by the Zhejiang Provincial Natural Science Foundation of China under Grant LY18E070006 and Grant LY19E070006, in part by the National Natural Science Foundation of China under Grant 51677172, and in part by the Fundamental Research Funds of Zhejiang Sci-Tech University under Grant 2019Q031. (Corresponding authors: Wenqi Lu; Kaiyuan Lu.) Wenqi Lu, Bo Tang, and Yaxiong Wu are with the Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China (e-mail: firstname.lastname@example.org; email@example.com; firstname.lastname@example.org).
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- Combined incremental encoder
- dual incremental encoder
- selective compliance assembly robot arm (SCARA)
- status monitoring
- unevenly distributed multiple indexing signals