PIPER ROBOTIC ARM
Littafin mai amfani da sauri V1. 0
2024. 09
Muhimman Bayanan Tsaro
Wannan babin ya ƙunshi mahimman bayanan aminci. Dole ne kowane mutum ko kungiya ya karanta tare da fahimtar wannan bayanin kafin amfani da na'urar, musamman kafin kunna ta a karon farko. Yana da mahimmanci a bi da kuma bi duk umarnin taro da jagororin da ke cikin wannan jagorar. Bayar da kulawa ta musamman ga rubutun da ke da alaƙa da alamun gargaɗi. Kafin amfani da na'urar, tabbatar da samo kuma karanta "Manual User Piper." Idan kuna da wasu tambayoyi game da amfani, jin daɗin tuntuɓar mu a support@agilex.ai.
Ikon faɗakarwa：⚠Wannan yana nufin yanayin da zai iya haifar da haɗari, wanda, idan ba a kiyaye shi ba, zai iya haifar da rauni na mutum, lalacewar dukiya, da lalata kayan aiki mai tsanani.
Gargadi ⚠？ AgileX Robotics ba za a ɗauki alhakin duk wani lalacewar hannun mutum-mutumi ko duk wani kayan aiki da ya haifar da kurakuran shirye-shirye ko gazawar aiki ba.
Iyakance Alhaki: Da zarar an yi amfani da hannun mutum-mutumi, ana ɗaukar cewa kun karanta, fahimta, yarda, kuma kun karɓi duk sharuɗɗan da abubuwan da ke cikin littafin jagorar mai amfani da bayanin aminci. Mai amfani ya ƙaddamar da ɗaukar alhakin ayyukan nasu da duk sakamakon da ya taso daga gare su. Mai amfani ya yarda ya yi amfani da hannun mutum-mutumi kawai don dalilai na halal kuma ya karɓi waɗannan sharuɗɗan, da duk wasu manufofi ko jagororin da suka dace waɗanda AgileX Robotics na iya kafawa. Yayin amfani da hannun mutum-mutumi, da fatan za a bi da bi ka'idodin da aka zayyana a ciki, amma ba'a iyakance ga, littafin jagorar mai amfani da bayanan aminci ba.
AgileX Robotics ba zai zama abin dogaro ga kowane rauni na mutum ba, hatsarori, lalacewar dukiya, jayayyar doka, ko rikice-rikice na sha'awa sakamakon rashin amfani ko tilasta majeure. Hannun mutum-mutumin bai dace da mutane masu ƙasa da shekara 18 ko waɗanda ba su da cikakkiyar damar farar hula. Da fatan za a tabbatar da irin waɗannan mutane ba su tuntuɓar wannan samfurin ba, kuma ku ɗauki ƙarin matakan tsaro yayin aiki da na'urar a gabansu.
Bayanin da ke cikin wannan jagorar bai ƙunshi ƙira, shigarwa, da aiki na cikakken aikace-aikacen hannu na mutum-mutumi ba, kuma baya haɗa da duk yuwuwar kayan aiki na gefe waɗanda zasu iya tasiri ga amincin tsarin gabaɗayan. Zane da amfani da cikakken tsarin dole ne su bi ka'idodin aminci da aka kafa ta ka'idoji da ka'idoji na ƙasar da aka shigar da hannun mutum-mutumi.
Hakki ne na mai haɗa hannu na mutum-mutumi da kuma abokin ciniki na ƙarshe don tabbatar da bin ƙa'idodin da suka dace da dokokin da suka dace, tabbatar da cewa babu wani gagarumin haɗari a cikin cikakkiyar aikace-aikacen hannu na mutum-mutumi. Wannan ya haɗa da, amma ba'a iyakance shi ba, masu zuwa:
1. Inganci da Nauyi
- Gudanar da kimanta haɗari don cikakken tsarin hannu na mutum-mutumi.
- Haɗa ƙarin na'urorin aminci don wasu injuna kamar yadda aka ayyana a cikin ƙimar haɗari.
- Tabbatar da ingantaccen ƙira da shigarwa na gabaɗayan tsarin hannu na mutum-mutumi, gami da software da kayan masarufi.
- Dole ne mai haɗawa da abokin ciniki na ƙarshe ya bi ƙa'idodi masu dacewa da buƙatun doka don kimanta aminci don tabbatar da cewa haɓakar hannu na mutum-mutumi ba shi da manyan haɗari ko haɗarin aminci a ainihin aikace-aikacen.
- Yi hankali da duk wata haɗarin aminci kafin aiki da amfani da kayan aiki.
- Tabbatar cewa masu amfani ba su canza kowane matakan tsaro ba.
- Tattara duk takaddun a cikin fasaha files, gami da kimanta haɗarin da wannan littafin.
2. Muhalli
- Kafin amfani da farko, karanta wannan jagorar a hankali don fahimtar ainihin aiki da jagororin amfani.
- Zaɓi wuri mai buɗe ido don amfani, saboda hannun mutum-mutumi ba ya zuwa da kowane cikas ta atomatik ko na'urori masu auna firikwensin.
- Yi amfani da hannun mutum-mutumi a cikin yanayi mai zafi tsakanin -20°C da 50°C.
- Idan hannun mutum-mutumi ba na al'ada ba ne tare da takamaiman ƙimar kariya ta IP, ana ƙididdige juriyar ruwansa da ƙura a IP22.
3. Duba
- Tabbatar cewa hannun mutum-mutumi ba shi da ganuwa a bayyane.
- Tabbatar da haɗin kai mai dacewa na kayan aikin wayoyi yayin amfani.
4. Aiki
- Tabbatar cewa yankin da ke kewaye ya buɗe sosai yayin aiki.
- Yi aiki a cikin kewayon gani.
- Matsakaicin nauyin nauyin hannun mutum-mutumi shine 1.5KG; tabbatar da cewa inganci mai inganci bai wuce 1.5KG yayin amfani ba.
- Idan kayan aiki sun nuna rashin daidaituwa, daina amfani da shi nan da nan don guje wa lalacewa ta biyu.
- Idan rashin daidaituwa ya faru, tuntuɓi ma'aikatan fasaha masu dacewa kuma kar a sarrafa su da kanku.
- Yi amfani da kayan aiki a cikin mahallin da ya dace da buƙatun ƙimar kariyar IP.
5. Gargaɗi:
- Tabbatar cewa hannun mutum-mutumi da kayan aiki/masu kawo karshen suna koyaushe daidai kuma suna daidaitawa a wurinsu.
- Idan dole ne ka shiga wurin aiki na hannun mutum-mutumi, saka tabarau na tsaro da kayan kariya don kare kanka.
- Tabbatar cewa hannun mutum-mutumi yana da isasshen sarari don motsi kyauta.
- Tabbatar cewa an kafa matakan tsaro kamar yadda aka ayyana a kimar haɗari.
- Kada ku sa tufafi maras kyau yayin aikin hannu na mutum-mutumi. Daure dogon gashi lokacin aiki da hannun mutum-mutumi.
- Kar a yi amfani da hannun mutum-mutumi idan ya lalace ko yana nuna rashin daidaituwa.
- Idan mai masaukin software na kwamfuta yana nuna saƙonnin kuskure, nan da nan yi tasha gaggawa kuma tuntuɓi ma'aikatan fasaha masu dacewa.
- Tabbatar cewa mutane sun nisanta kawunansu, fuskokinsu, ko wasu sassan jikinsu daga hannun mutum-mutumin da ke aiki ko kuma daga wurin da hannun mutum-mutumi zai iya kaiwa yayin aiki.
- Kar a taɓa canza hannun mutum-mutumi. Canza hannun mutum-mutumi na iya haifar da hatsarorin da ba a zata ba ga mai haɗawa.
- Kar a bijirar da hannun mutum-mutumi zuwa filayen maganadisu na dindindin. Filayen maganadisu masu ƙarfi na iya lalata hannun mutum-mutumi.
- Hannun mutum-mutumi yana haifar da zafi yayin aiki. Kar a taɓa ko taɓa hannun mutum-mutumi yayin da yake aiki ko jim kaɗan bayan ya tsaya, saboda tsayin daka na iya haifar da rashin jin daɗi. Kashe tsarin kuma jira na awa ɗaya don hannun mutum-mutumi ya huce.
- Haɗin injuna daban-daban tare na iya ƙara haɗari ko gabatar da sabbin haɗari. Koyaushe yi cikakken ƙimar haɗari don ɗaukacin shigarwa. Dangane da kimantawar haɗarin, ana iya amfani da matakan aminci na aiki daban-daban; don haka, lokacin da ake buƙatar matakan tsaro daban-daban da matakan dakatarwar gaggawa, koyaushe zaɓi matakin aiki mafi girma. Koyaushe karanta kuma ku fahimci jagorar duk na'urorin da aka yi amfani da su wajen shigarwa.
- Hannun mutum-mutumin bai dace da amfani da mutane masu ƙasa da shekara 18 ko waɗanda ba su da cikakkiyar ikon farar hula.
Gabatarwa
Wannan 6 DOFs robotic hannu an tsara shi musamman don ilimi da masana'antar bincike, aikace-aikacen matakin mabukaci, da sarrafa kansa na masana'antu. Tare da nauyin nauyin nauyin kilogiram 1.5, ya dace da bincike daban-daban da aikace-aikacen masana'antu, ciki har da mutummutumi, taro na atomatik, da sarrafawa ta atomatik. Ƙungiyoyin juyawa guda shida suna ba da cikakkiyar sassaucin aiki na aiki, yana tabbatar da daidaitattun daidaito da maimaitawa. Hannun mutum-mutumi yana da ƙirar ƙira, yana sauƙaƙa kulawa da haɓakawa. Yana ba da ƙirar mai amfani da hankali wanda ke sauƙaƙe shirye-shirye da aiki, yana ba da damar ko da ƙwararrun ƙwararru don farawa da sauri. Ana iya amfani dashi ko'ina a fannoni kamar bincike na kimiyya, ilimi, kera motoci, taron kayan lantarki, sarrafa abinci, sarrafa kansa, da aikin kayan aikin likita.
1.1. Lissafin Marufi
| Suna | Yawan |
| 6 DOFs Robotic hannu | 1 |
| USB toCAN module | 1 |
| Adaftar wutar lantarki | 1 |
| MicroUSB na USB | 1 |
| Wutar lantarki da kebul na sadarwa | 1 |
| Tushen hawa sukurori | 4 |
| Maƙarƙashiyar shigarwa na tushe | 1 |
Asalin Amfani
Hannun mutum-mutumi yana da 6 DOFs da nauyin nauyin 1.5kg a ƙarshe. Ƙungiyoyin juyawa guda shida suna ba da cikakkiyar sassaucin aiki na aiki, yana tabbatar da daidaitattun daidaito da maimaitawa. Yana da ƙirar ƙira mai sauƙi, yana barin hannun mutum-mutumi don cimma ƙarfin motsi cikin sauri yayin da yake riƙe ƙarfin ɗaukar nauyi. Ana iya amfani da shi ko'ina a cikin bayanan sirri na zahiri don tattara bayanai na zahiri.
2.1. Gabatarwar Sadarwar Wutar Lantarki
2.1.1 Umurnin Kwamitin Lantarki na Arm Na Robotic
- Tashar wutar lantarki da sadarwa
- Hasken Ma'anar Matsayi
- J1 & J2 tashar jiragen ruwa
2.1.2 Umarnin toshe jirgin
- Tashar wutar lantarki da sadarwa
- Haske mai nuna matsayi
- J1J2 tashar jiragen ruwa
- Ƙarfi tabbatacce
- Ƙarfi mara kyau
- CAN-H
- CAN-L
Lura: Daidaita ɗigon ja tare da madaidaicin ɗigon ja akan kebul ɗin. Wurin da aka ƙera na mahaɗin an ƙera shi don ja da baya ƙarƙashin ƙarfi. Yayin shigarwa, daidaita ɗigon ja zuwa ƙasa tare da wurin da ke fitowa kuma saka shi kai tsaye. Don cirewa, danna ƙasa a kan wurin da aka lakafta kuma cire shi.
2.1.3 CAN haɗi
Haɗin CAN da Shirye
Fitar da kebul na CAN kuma haɗa wayoyi CAN_H da CAN_L zuwa adaftar CAN_TO_USB.
Haɗa adaftar CAN_TO_USB zuwa tashar USB ta kwamfutar tafi-da-gidanka. Ana nuna zanen haɗin kai a hoto 3.4.
Lura: Idan ana amfani da caja mara inganci, dole ne shigar da wutar lantarki bai wuce 26V ba, kuma na yanzu dole ne ya zama ƙasa da 10A.
2.2. Koyarwar Hannun Hannun Robotic/Uwararrun Yanayin Nunawa
Matsayin yanayin ja da koyarwar hannun mutum-mutumi ana nuna shi ta hasken maɓalli tsakanin J5 da J6.
Akwai nau'ikan nunin haske na hannun mutum-mutumi iri uku:
- Babu nunin haske: An dakatar da jawar hannu da yanayin koyarwa, ko kuma rikodin ja ya ƙare.
- Hasken kore mai ƙarfi: Hannun mutum-mutumi ya shiga yanayin ja & koyarwa don rikodin yanayi.
- Hasken kore mai walƙiya: Hannun mutum-mutumi ya shiga yanayin ja & koyarwa don sake kunnawa.
Yadda ake canzawa zuwa yanayin ja:
- Maɓallin danna sau ɗaya: Canja tsakanin ja koyar da rikodin yanayin da dakatar da rikodin ja.
- Maɓallin danna sau biyu: Yana kunna ja koyar da yanayin sake kunnawa.
Umarni:
Na farko, lura da yanayin hasken mai nuna alama:
- Idan hasken ya kashe, danna maɓallin sau ɗaya. Hasken kore ya kamata ya zama mai ƙarfi, yana nuna cewa mai amfani zai iya ja hannun mutum-mutumi don fara rikodin yanayin.
- Idan hasken yana kashe kuma an yi rikodin yanayin a baya, danna maɓallin sau biyu. Hasken kore ya kamata ya haskaka kowane 500ms, yana nuna hannun mutum-mutumi yana cikin yanayin sake kunnawa kuma zai sake haifar da yanayin da aka yi rikodin.
- Idan hasken yana da ƙarfi, yana nuna rikodi na yanayin yana ci gaba. Don dakatar da rikodin, danna maɓallin sau ɗaya; hasken ya kamata ya kashe, yana nuna cewa rikodin ya ƙare. Idan kuna son sake kunna yanayin, bi mataki na 2.
- Idan hasken yana walƙiya, hannun mutum-mutumi a halin yanzu yana cikin yanayin sake kunnawa.
Bayanan kula:
- Yayin sake kunnawa, mai amfani dole ne ya kiyaye nisa mai aminci daga hannun mutum-mutumi don gujewa rauni.
- Duk lokacin da hannun mutum-mutumi ya shiga koyar da yanayin rikodi, ana goge yanayin da aka yi rikodin a baya. Yanayin sake kunnawa zai yi amfani da yanayin da aka yi rikodin kwanan nan.
- Matsakaicin lokacin rikodin yanayin yanayi shine mintuna 3; duk wani yanayin da ya wuce wannan lokaci ba zai zama mara inganci ba.
- Bayan kammala ja koyarwa, tabbatar da cewa hasken mai nuna alama yana kashe/jawo yanayin koyarwa ya tsaya.
- Idan kana so ka canza zuwa karɓar sarrafa kwamfuta ko sarrafa umarni, tabbatar da cewa hasken mai nuna alama yana kashe/jawo yanayin koyarwa ya tsaya.
Sa'an nan kuma canza zuwa yanayin jiran aiki ta hanyar kwamfutar mai watsa shiri, kuma bayan shigar da yanayin jiran aiki, canza zuwa yanayin CAN. Hakanan ya shafi sarrafa umarni-canza farko zuwa yanayin jiran aiki, sannan canza zuwa yanayin sarrafawa na CAN.
Lura: Lokacin canzawa daga yanayin hanyar haɗi da koyarwa ta hanyar jan yanayin zuwa yanayin sarrafawa na CAN, hannun mutum-mutumi dole ne a sanya shi a wurin sifili kafin canza yanayin. Ana nuna maki sifili a cikin hoton da ke ƙasa:
2.3. Umarnin Shigarwa Tushen
An shigar da tushe na hannu na mutum-mutumi ta amfani da sukurori don gyarawa. Tushen yana da ramukan zaren M5 guda huɗu da aka riga aka hako. Kayan kayan haɗi sun haɗa da sukurori na M5 guda huɗu, waɗanda za a iya ƙarfafa su ta amfani da kayan aikin hex da aka bayar. Tsawon rami shine 70mm. Idan kana buƙatar haɗa tushe zuwa kayan aikin hannu ko tsayayyen wuri, za ka iya tsara tsarin da ya dace tare da ramin rami na 70mm.
2.4. Ƙarshen Umarnin Shigarwa Sashe
Ƙarshen za a iya sanye shi da wasu kayan aikin ta hanyar flange. Na'urorin haɗi na zaɓi sun haɗa da ɗan yatsa biyu da abin wuyan koyarwa. Ana nuna hanyar shigarwa a cikin zanen da ke ƙasa. Ana iya samun cikakkun bayanai na gripper mai yatsa biyu da sigogi na na'urar koyarwa a cikin ƙayyadaddun fasaha a ƙarshen.
Umarnin Amfani da Kwamfuta ArmRobotUA
Sauke software:
mahada: https://drive.google.com/file/d/1771e87UGdkGwgVuO4XFAio8x4Uajmneh/view?usp=drive_link
Yin amfani da PC mai Windows 7 ko sama, danna sau biyu don buɗe software na kwamfuta mai masaukin baki. Ta hanyar wannan software na hulɗar ɗan adam da na'ura, zaku iya sarrafa hannun mutum-mutumi da karanta bayanan martani daga cibiyar sadarwar waje ta hannun mutum-mutumi. Ana nuna mahaɗin mai amfani kamar haka:
Sunayen wuraren aiki a cikin rukunin software na kwamfuta mai masaukin baki
| Fihirisa | Suna |
| 1 | Maballin Sadarwar Hannun Robotic |
| 2 | Zaɓuɓɓukan Menu |
| 3 | Gudun Kashitage Saiti |
| 4 | Maballin Kunna Hannun Robotic |
| 5 | Maɓallin Tsaya Gaggawar Hannu na Robotic |
| 6 | Girman Taga / Rufe Maɓallan |
| 7 | Yanki Aiki |
| 8 | 3D Simulators |
| 9 | Ayyukan Laburare |
| 10 | Matsayin Hadin gwiwar Hannun Robotic |
| 11 | Robotic Arm Status Bar |
Ci gaban Sakandare
A halin yanzu, hannun mutum-mutumi yana tallafawa haɓaka na biyu ta hanyar Python SDK da kunshin direban ROS1. Don cikakkun umarnin ci gaban sakandare, da fatan za a koma hanyar haɗin GitHub.
SDK: https://github.com/agilexrobotics/piper_sdk
ROS1: https://github.com/agilexrobotics/Piper_ros/tree/ros-noetic-no-aloha
ROS2: https://github.com/agilexrobotics/Piper_ros/tree/ros-foxy-no-aloha
Ƙididdiga na Fasaha
Ƙayyadaddun Hannu na Robotic:
| Nau'in siga | Abu | Ƙayyadaddun bayanai |
| Sigogin Sigogi | Digiri na 'Yanci | 6 |
| Load mai inganci | 1.5KG | |
| Nauyi | 4.2KG | |
| Maimaituwa | ±.0.1mm | |
| Aiki Radius | 626.75mm ku | |
| Daidaitaccen Ƙarfin Wuta Voltage | DC24V (min: 24V, Max: 26V) | |
| Amfanin Wuta | Ƙarfin Ƙarfi ≤ 120W, Ƙarfin Ƙarfi ≤ 40W | |
| Kayan abu | Aluminum Alloy Frame, Filastik Shell | |
| Mai sarrafawa | Haɗe-haɗe | |
| Hanyar Sadarwa | CAN | |
| Hanyar sarrafawa | Koyarwa ta Jawo/Hanyar Wuta ta Wasa / API / Kwamfuta Mai Runduna | |
| Hanyoyin Sadarwar Waje | Interface Power x1, CAN Interface x1 | |
| Girman Shigarwa Tushen | 70mm x 70mm x M5 x 4 | |
| Muhallin Aiki | Zazzabi: -20 zuwa 50 ℃, Humidity: 25% -85%, Mara tari | |
| Surutu | <60dB | |
| Shigarwa | Mai jituwa tare da duk samfuran robotics AgileX | |
| Ma'aunin Motsi: | Rage Motsi na Haɗin gwiwa | J1:±154° J2:0°~195° J3:-175°~0° J4:-106°~106° J5:-75°~75° J6: ± 100° |
| Haɗin Max Speed | J1:180°/s J2:195°/s J3:180°/s J4:225°/s J5:225°/s J6:225°/s | |
| Lura: Bayanan da ke sama sakamakon gwaji ne na hannun AgileX robotics a cikin yanayin gwaji mai sarrafawa. Sakamako na iya bambanta a ƙarƙashin yanayi daban-daban da hanyoyin amfani. Ya kamata a yi la'akari da ƙwarewar gaske. | ||
Ƙayyadaddun Mabiyan Gripper na zaɓi:
| Ma'aunin Gripper Mai Yatsu Biyu | |
| Nauyi | 500 g |
| Daidaito | ±.0.5mm |
| Distance Buɗewa | 0-70 mm |
| An ƙididdige Clampa Force | 40N |
| Max Clampa Force | 50N |
| Wutar Lantarki Voltage | DC24V |
| Amfanin Wuta | Ƙarfin Ƙarfi ≤ 50W, Ƙarfin Ƙarfi ≤ 30W |
| Tuntuɓi Kayan Sama | Roba |
| Mai sarrafawa | Haɗe-haɗe |
| Hanyar Sadarwa | CAN |
| Hanyar sarrafawa | Koyarwa ta Jawo/Hanyar Wuta ta Wasa / API / Kwamfuta Mai Runduna |
| Hanyoyin Sadarwar Waje | Interface Power x1, CAN Interface x1 |
| Hanyar shigarwa | Dutsen Flange |
| Muhallin Aiki | Zazzabi: -20 zuwa 50 ℃, Humidity: 25% -85%, Mara tari |
| Surutu | <60dB |
| Lura: Bayanan da ke sama sakamakon gwaji ne na AgileX a cikin yanayin gwaji mai sarrafawa. Sakamako na iya bambanta a ƙarƙashin yanayi daban-daban da hanyoyin amfani; ya kamata a yi la'akari da ainihin kwarewa. | |
| Ma'aunin Na'urar Koyarwa | |
| Nauyi | 550 g |
| Daidaito | ±.0.5mm |
| Distance Buɗewa | 0-70 mm |
| An ƙididdige Clampa Force | 40N (Irin Ƙarfin Ƙarfi, Ƙarfafa Feedback)) |
| Max Clampa Force | 50N (Irin Ƙarfin Ƙarfi, Ƙarfafa martani) |
| Wutar Lantarki Voltage | DC24V |
| Amfanin Wuta | Ƙarfin Ƙarfi ≤ 50W, Ƙarfin Ƙarfi ≤ 30W |
| Tuntuɓi Kayan Sama | Roba |
| Mai sarrafawa | Haɗe-haɗe |
| Hanyar Sadarwa | CAN |
| Hanyar sarrafawa | Koyarwa ta Jawo/Hanyar Wuta ta Wasa / API / Kwamfuta Mai Runduna |
| Hanyoyin Sadarwar Waje | Interface Power x1, CAN Interface x1 |
| Hanyar shigarwa | Dutsen Flange |
| Muhallin Aiki | Zazzabi: -20 zuwa 50 ℃, Humidity: 25% -85%, Mara tari |
| Surutu | <60dB |
| Lura: Bayanan da ke sama sakamakon gwaji ne na AgileX a cikin yanayin gwaji mai sarrafawa. Sakamako na iya bambanta a ƙarƙashin yanayi daban-daban da hanyoyin amfani; ya kamata a yi la'akari da ainihin kwarewa. | |
AgileX Robotics
Takardu / Albarkatu
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AgileX PiPER Robotic Arm [pdf] Jagorar mai amfani PiPER Robotic Arm, PiPER, Robotic Arm, Arm |