Design of a joint angle measurement system for the rotary joint of a robotic arm using an Incremental Rotary Encoder
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The design of a prototype system that measures the joint angles of the rotary joint of
a robotic exoskeleton is presented in this work. An incremental rotary encoder is a sensor that
can be connected to any rotary joint to measure the angle of rotation, speed of rotation,
direction of rotation (clockwise or counter-clockwise motion) as well as the acceleration of a
joint. The measurement system using a rotary encoder which generates an electrical signal
either analog or digital according to the rotation movement was designed in this work. A
prototype rotary joint having a 270° range of motion was fabricated with ABS plastic using 3D
printing and then connected to an incremental rotary encoder to measure its speed and angle of
motion. A robotic exoskeleton was then proposed to be used with the tested and developed
measurement system.
Keywords
QA75 Electronic computers. Computer science, TK Electrical engineering. Electronics Nuclear engineering