Arduino Robot ARM 4

 Zathaview 

Mu malangizowa, tikudziwitsani kudzera mu projekiti yosangalatsa ya Arduino Robot Arm 4DOF Mechanical Claw Kit. Izi DIY Arduino UNO yochokera pa Bluetooth robot kit idakhazikitsidwa pa bolodi lachitukuko la Arduino Uno. Chida chosavuta komanso chosavuta kupanga ichi ndi Ntchito yabwino ya Arduino kwa Oyamba kumene ndipo ndi nsanja yabwino yophunzirira kulowa mu Robotic ndi Engineering.

Robot Arm imabwera ndi paketi yathyathyathya kuti igwirizane ndipo imafuna kutenthetsa pang'ono kuti igwire ntchito. Integrates 4 SG90 servos kuti amalola 4 Digiri ya kuyenda ndipo akhoza kutenga zinthu kuwala ndi chikhadabo. Kuwongolera mkono kumatha kuchitidwa ndi 4 potentiometers. Tiyeni tiyambe!

Kuyamba: Arduino Robot Arm 4dof Mechanical Claw Kit

Kodi Arduino ndi chiyani?

Arduino ndi nsanja yotseguka yamagetsi yozikidwa pa Hardware ndi mapulogalamu osavuta kugwiritsa ntchito. Ma board a Arduino amatha kuwerenga zolowetsa - kuwala pa sensa, chala pa batani, kapena uthenga wa Twitter - ndikusintha kukhala zotulutsa - kuyambitsa mota, kuyatsa LED, kusindikiza china chake pa intaneti. Mutha kuuza gulu lanu zoyenera kuchita potumiza malangizo kwa microcontroller pa bolodi. Kuti muchite izi mumagwiritsa ntchito chinenero cha pulogalamu ya Arduino (yochokera pa Wiring), ndi Arduino Software (IDE), yotengera Processing.

Kodi IDUINO UNO ndi chiyani?

iDuino Uno ili pa ATmega328. Ili ndi zikhomo 14 za digito / zotulutsa (zomwe 6 zitha kugwiritsidwa ntchito ngati zotulutsa za PWM), zolowetsa 6 za analogi, 16 MHz ceramic resonator, cholumikizira cha USB, jack mphamvu, mutu wa ICSP, ndi batani lokhazikitsiranso. Lili ndi zonse zofunika kuthandizira microcontroller; ingolumikizani ku kompyuta ndi chingwe cha USB kapena muyipatse mphamvu ndi adaputala ya AC-to-DC kapena batire kuti muyambe.

Kuyika mapulogalamu

Mugawoli, tikudziwitsani zachitukuko chomwe mumamasulira malingaliro opanga kukhala ma code ndikuwulola kuwuluka.

Arduino Software/IDE

Tsegulani pulogalamu ya Windows-based ndikudina kawiri ndikutsata malangizo kuti mumalize (Kumbukirani kukhazikitsa chilichonse choyendetsa cha Arduino). Zosavuta!

Chithunzi 1 Kuyika kwa madalaivala

Kulumikiza board yanu ya UNO ndi kompyuta yanu

Kulumikiza UNO ndi PC yanu ndi chingwe cha buluu cha USB, ndipo ngati mutalumikizidwa bwino mudzawona mphamvu yobiriwira ya LED ikuwunikira ndi LED ina yalalanje ikunyezimira.

Chithunzi 2 Yang'anani COM Yanu yapadera ndikuyilemba pa nambala

Pezani nambala yanu ya Serial COM ndikuyilemba.

Tiyenera kudziwa njira yomwe COM ikulankhulana pakati pa PC ndi UNO. Kutsatira njira: Control gulu | Zida ndi Phokoso | Zipangizo ndi Printer | Woyang'anira Chipangizo | Madoko (COM & LPT) | Arduino UNO (COMx)

Lembani nambala ya COM monga momwe tidzafunira pambuyo pake. Popeza doko la COM limatha kusiyanasiyana nthawi ndi nthawi, gawo ili ndilofunika. Pachifukwa ichi paziwonetsero, tikugwiritsa ntchito COM 4.

Sewerani ndi wakale wanu woyamba wa "Hello World" LEDample

Choyamba, tiyeni tiwuze IDE komwe mungapeze doko lathu la Arduino ndi bolodi lomwe mukugwiritsa ntchito pano: Malangizo otsatirawa (Chithunzi 3 ndi 4) akuwonetsa zambiri:

Kukonzekera kwa Ports

Kukonzekera kwa Board

Ndi nthawi kusewera nanu woyamba yosavuta wakaleample. Kutsatira njira yodutsa File | | Eksampizi | 01. Zoyambira | Kuphethira. Windo latsopano la code lidzawonekera, dinani chizindikiro cha muvi kuti mukweze. Mudzawona kuti lalanje la LED likuthwanima pafupifupi sekondi iliyonse.

Kuyika kwa Hardware

4 x Servo SG90 yokhala ndi phukusi la servo (screw ndi mtedza zikuphatikizidwa) 4 x Base racks okhala ndi chivundikiro chachitetezo (chosavuta kuchotsa) ndi phukusi la screw Bolodi yowonjezera ya Robot Arm yokhala ndi jack yamagetsi osiyana (Chonde onani njira yamagetsi) Chingwe cha USB Iduino UNO Board
Mu rack phukusi, kuchokera kumanzere kupita kumanja:  M3 * 30 mm M3 * 10 mm M3 * 8 mm M3 * 6 mm Kujambula skew M3 mtengo

Kuzungulira kuzungulira

Robot Arm Kit iyi imafuna kugulitsa kochepa kwambiri kuti chilichonse chizigwira ntchito. Robot Arm Extension Board imagwiritsidwa ntchito kulumikiza mawonekedwe pakati pa olamulira, mu polojekitiyi, ma potentiometers anayi ndi Iduino UNO Board.

Chenjezo: Chonde samalani mukamagwiritsa ntchito Iron yotentha ya Soldering.

Chithunzi 3 Chifaniziro choyambirira cha bolodi ya Robot ARM

Konzani:

1. Gulu limodzi la Robot Arm Extension Board
2. Jack imodzi ya 12V Black Power
3. 52P Mitu ya Pin
4. Mmodzi wabuluu Kunja Mphamvu koperekera mawonekedwe
5. One Black Bluetooth Interface

Ndiye solder zikhomo kwa servos ndi Mphamvu Jack.

Chonde dziwani kuti ma Pins a mawonekedwe a servo akuyang'ana mmwamba, pa mawonekedwe a Iduino pansi.

Ndiye solder anayi potentiometers

Chovala chojambulira chimagwiritsidwa ntchito panjira yachidule ya Robot Arm Extension Board ndi Iduino UNO Board, zomwe zikutanthauza kuti simuyenera kupatsa mphamvu gulu la Iduino UNO padera.
Ikani mu kapu ya jumper pamene tikugwiritsa ntchito mphamvu imodzi yakunja, 12V batire Box.

Kenaka ikani zophimba zinayi zasiliva pa potentiometers wamaliseche. Tsopano mwamaliza gawo la soldering!

Kusintha kwa mapulogalamu

Arduino UNO Code Kukweza

Robot idzachita momwe imapangidwira. Kumvetsetsa ndi kuyamwa zomwe zili mkati mwa Iduino UNO board, mwachitsanzo, kachidindo kameneka ndi gawo lofunikira kwambiri pakuphunzirira. Mu gawoli, cholinga chathu chomaliza ndikuwonetsetsa kuti ma servos ndi ma potentiometer akugwira ntchito bwino.

Ngati iyi ndi ntchito yanu yoyamba ya Arduino, chonde tsatirani malangizowa mosamala. Choyamba, koperani zizindikiro zogwirizana wathu webmalo.

• Dinani kawiri chizindikirocho kuti mutsegule pulogalamuyo ndikutsegula file mu njira: File | | Tsegulani

• Tsegulani me_arm3.0 Arduino file

Kusintha kwa mapulogalamu

Dinani batani lokweza ndi muvi wakumanja pa Tool Bar kuti mukweze anu file ku UNO

Mwamaliza kukweza, ngati sichoncho, onani Board ndi Ports mu 3.2 kuti muwonetsetse kuti mukulumikiza UNO yanu molondola

Servo debugging

Ndiye tiyeni tiyese ma servos athu kuti tiwone ngati akuyenda bwino. Ma servos ayenera kusinthasintha bwino mukamasewera mozungulira ndi ma potentiometer ofanana. Ngati sichoncho, onetsetsani kuti mwakweza nambala yanu molondola ndi chikwangwani cha "Done upload" chomwe chafotokozedwa pamwambapa ndikuyika servo board molimba pa bolodi la UNO ndi mapini onse ali pamzere bwino. Chofunika kwambiri, plug mumagetsi odalirika bwino pomwe malangizo amagetsi adzawonetsedwa mu gawo lotsatira. Werengani mosamala apo ayi mutha kuwotcha Arduino core microcontroller.

Servo ali ndi mapini atatu:

• Chizindikiro
• GND
• Chithunzi cha VCC

Njira yozungulira imayendetsedwa ndi PWM (pulse width modulation) chizindikiro cha ntchito. Ngati mulingo wotsitsimutsawu uli wocheperako, ndiye kuti kulondola kwa servo kumachepetsa pomwe imayamba kutaya nthawi yake ngati mulingo uli wokwera kwambiri, ndiye kuti servo imatha kuyankhula. Ndikofunikira kusankha mulingo woyenera, kuti servo mota ikhoza kutseka malo ake.

Chonde onetsetsani kuti servo iliyonse imagwira ntchito bwino chifukwa ndizovuta kuchotsa.

Lumikizani mawonekedwe a servo ku UNO servo slot mmodzi-m'modzi, kuchokera pa slot 4 kupita ku slot 1 yomwe imayendetsedwa ndi potentiometer yofananira.

Lumikizani magetsi a 9-12v 2A mu jakisoni yamagetsi ya Arduino yokhala ndi jumper cap (bodi la Servo)

Magetsi

Mphamvu zimagwira ntchito yofunikira pakuyendetsa makina a Robot Arm popeza kusowa kwa magetsi kumatha kubweretsa jitter yowongolera ma servo ndipo pulogalamu imatha kuyenda molakwika. Zida ziwiri zodziyimira pawokha zidzafunika, imodzi yoyendetsa bolodi lachitukuko la Uno ndi ina kuyendetsa olamulira a potentiometer servo. Mugawoli, tikukudziwitsani njira zingapo zopangira magetsi kuti muthandizire:

1. (Ovomerezeka) Gwiritsani ntchito adaputala yamagetsi ya 5V 2A ndikulumikiza soketi ya 2.1mm DC pa bolodi la potentiometer.
2. (Mwinamwake) Gwiritsani ntchito magetsi a 5V 2A ndikuyimitsa mu chipika chamtundu wabuluu pa bolodi la potentiometer.
3. (Ovomerezeka) Gwiritsani ntchito adaputala yamagetsi ya 9v mpaka 12v pagulu lachitukuko la Arduino UNO kudzera pa soketi ya 2.1mm DC pa bolodi la Uno.
4. (Mwinamwake) Gwiritsani ntchito USB A mpaka B (chingwe chosindikizira) choperekedwa kuti mupereke mphamvu ya 5V yosasunthika mu bolodi la Uno kuchokera pa charger ya UB, PC kapena laputopu.

ZINDIKIRANI: Mukamasintha ma code pa Uno Board, chonde onetsetsani kuti mwachotsa bolodi la Robot Arm Servo Controller ku bolodi lachitukuko la Uno ndikudula magetsi a Uno Board. Kupanda kutero, zitha kubweretsa kuwonongeka kosasinthika kwa Roboti yanu ndi PC yanu chifukwa zitha kuyendetsa chapano chachikulu kudzera padoko lanu la USB.

System Debugging

Kuyika rack

Mu gawoli tikukutsogolerani kudzera mu Robot Arm Base ndi kukhazikitsa rack.

• Yang'anani papepala loteteza la rack base

Konzani zinthu:

• Base
• 4 x M3 mtedza
• 4 x M3 * 30 mm zomangira

• Sonkhanitsani zigawozo monga momwe zasonyezedwera kumanzere

Konzani zinthu:

• 4 x M3 mtedza
• 4 x M3 * 10mm
• zomangira

• Mangani zomangira ndi mtedza monga zikuwonetsedwa kumanzere, zomwe zimagwiritsidwa ntchito kuteteza Iduino UNO Board

Kenako konzani zinthuzo:

• 2x M3 * 8mm zomangira
• Black Servo holder
• Black Servo rack

• Kokani chingwe ulusi kudzera servo bulaketi dzenje monga chofunika kulumikiza Iduino UNO Board mu njira zotsatirazi

Kenako ikani chosungira cha Servo pamwamba pa chosungira servo. Tsopano mutha kuwona Servo ndi yotetezedwa ndikuyika pakati pa chofukizira ndi bulaketi.

 

• Iyenera kuwoneka chonchi

• Kenako chitetezeni monga momwe zasonyezedwera kumanzere

• Iyenera kuwoneka chonchi

Kenako konzani zinthu kuti mupange Forearm ya Robot

1. 2 x M3 * 8mm zomangira
2. Bracket imodzi ya Servo
3. Mmodzi Servo SG90
4. One Black Main Arm Base

• Tetezani Servo ndi Bracket ndi Base monga momwe adalangizira mu Servo yomaliza

• Konzani zinthu:

1. 1 x M2.5 potopa screw
2. Mmodzi Servo Horn

• Tetezani Nyanga pa acrylic wakuda Main arm ndi M2.5 tapping screw

• Ikani Main Arm pa Servo ndikuizungulira mozungulira mpaka itasiya kusinthasintha momwe imapangidwira kuti izizungulira molunjika.

• Tulutsani Dzanja Lalikulu ndikuyiyikanso mozungulira, sitepe iyi ndikuwonetsetsa kuti Servo isintha.kwise kuchokera pomwe pano (0 digiri) ndipo osathyola mkono pomwe mphamvu imayatsidwa kuti izungulire

• Sonkhanitsani zomangira zodzigunda pachokha ndikuchitchinjiriza chowonetsedwa kumanzere

• Lumikizani mfundo ziwiri zogwira ntchito ndi wononga, kumbukirani kuti musamangitse zomangirazo chifukwa zimafunika kuzungulira momasuka

• Konzani zinthu:

1.  2 x M3 * 10mm
2. m3 mawu
3. Awiri akuda Clapboard Acrylic

• Ikani ziwiri za Clapboard Acrylic mu mapiko ofananira

• Choyamba, ikani Clapboard m'mipata yofananira ndipo munjira zotsatirazi idzatetezedwa ndi wononga ndi nati mbali zonse.

• Kenako ikani choyikapo maziko mugawo lolingana pakati pa ma clapboards awiri

• Iyenera kuwoneka chonchi

• Tetezani Clapboard pa Main Arm base ndi screw imodzi ndi nati.

Langizo: Gwirani natiyo pamalowo ndikumangirira M3 mkati.

• Tetezani Clapboard mbali zonse ziwiri monga zikuwonetsedwa kumanzere

• Tetezani acrylic wa msana pakati pa mkono ndi mkono waukulu ndi:

1.  2 x M3 * 10mm
2. mtedza awiri

Langizo: Gwirani natiyo pamalowo ndikumangirira M3 mkati.

• Konzaninso mbali inayo

• Kenako konzani wononga M3*6mm ndi acrylic wa mkono umodzi wautali

• Chitetezeni kumunsi kumanja

• Kenako gwiritsani ntchito mkono wina wakuda wautali wokhala ndi mfundo zitatu zogwira ntchito kuti mulumikize mfundo ziwiri zakutsogolo

• Chonde tetezani zomangirazo motsatira ndondomeko yoyenera. Backbone acrylic pamphumi pansi pakati ndi winayo wagona pamwamba

• Konzani zinthuzo kuti mupange mkono wakumanja wothandizira:

1. 3 M8 * XNUMX
2. Mmodzi wakuda wozungulira spacer
3. Mmodzi wakuda Support mkono
4. Cholumikizira chothandizira cha makona atatu chakuda

• Konzani screw yoyamba monga momwe ikusonyezera kumanzere. Chozungulira chozungulira chimakhala pakati.

Chonde musamangitse zomangira chifukwa pali zolumikizira zogwira ntchito chifukwa zimafunika kuzungulira momasuka osapaka ma acrylics oyandikana nawo.

• Konzani mapeto enawo ndi mkono wakuda wothandizira.

• Iyenera kuwoneka chonchi. Tsopano mkono wakutsogolo ukadali ndi mbali zitatu zolendewera zaulere zomwe pamapeto pake zimalumikizidwa kuti ziteteze chikhadabocho.

• Konzani magawo a Claw servo:

1. Mabulaketi awiri a square servo
2. 4 x M3* 8mm zomangira
3. Servo imodzi
4. Zida ziwiri zolumikizira

• Ikani bulaketi lalikulu pansi ndikukoka zingwe momwe zimafunikira kuti mulumikizane ndi Robot Extension Board

• Iyenera kuwoneka chonchi

• Ikani bulaketi ya rectangle pamwamba pa Servo ndikuteteza Servo ndi zomangira zinayi za M3 * 8mm.

• Konzani zikhadabo ziwiri pa bulaketi ya servo ya rectangle ndi zomangira ziwiri za M3 * 6mm.

Kumbukirani kuyika chozungulira chakuda pakati kuti muchepetse kukangana.

• Kenako sonkhanitsani:

1. 4 x M3 * 8 mm zomangira
2. Cholumikizira chimodzi chachifupi
3. Mlengalenga umodzi wozungulira

• Chitetezeni kumanzere kwa chikwapu monga momwe zasonyezedwera kumanzere.

Kumbukirani kuyika spacer pakati

• Konzani zotsatirazi kuti mulumikize cholumikizira chothandizira cha Claw ndi Triangle:

1. Zomangira ziwiri za M3 * 8mm
2. Mlengalenga umodzi
3. Dzanja limodzi lothandizira

• Tetezani mkono wothandizira pa cholumikizira cha Triangle

• Kenako gawo lonse la Claw litha kutetezedwa ndi mathero atatu aulere akulendewera a Forearm.

Chonde musamangitse zomangira zolumikizirana.

• Konzani zomangira mu phukusi la Servo ndi nyanga ya servo.

• Tetezani nyangayo ndi zomangira zomwe zikuwonetsedwa kumanzere

• Kokani zikhadabo zotseguka kwambiri ndikuyika dzanja lalifupi lomwe tidapanga pomaliza ndikulipiringitsa mwamphamvu.

• Tetezani Iduino UNO Board pa Base

• Ikani Robot Arm Extension Board pamwamba pa bolodi la Iduino UNO.

Chonde onetsetsani kuti mapini alumikizidwa bwino.

• Kenako ikani Robot Arm System pa Base servo rack ndikumangirira pa servo yoyambira ndi zomangira.

Tsopano mwamaliza kuyika zonse!

 

Rack debugging

Tsopano ndi nthawi yolumikiza ma servos anu ku Arduino UNO yanu.

Gawo 1	Claw servo
Gawo 2	Main servo
Gawo 3	Kutsogolo servo
Gawo 4	Kuzungulira servo

Tengani nthawi yanu ndikuchita mawaya oyenera potsatira malangizo omwe ali pamwambapa.

Servo ali ndi mapini atatu:

• Chizindikiro
• GND
• Chithunzi cha VCC

Kuthetsa vuto lonse

Tisanayatse magetsi, pali zinthu zingapo zomwe tiyenera kuzifufuza:

1. Onetsetsani kuti cholumikizira chilichonse chimatha kuzungulira bwino, apo ayi chikhoza kuyendetsa kuchuluka kwaposachedwa mu servo zomwe zimatsogolera ku "Zoletsedwa" ndipo ma servos amatha kutenthedwa mosavuta.
2. Sinthani potentiometer kuti igwirizane ndi ma servo omasuka. Servo imatha kugwira ntchito: 0 ~ 180 digiri popanda choletsa chilichonse, koma pulojekitiyi servo siyingathe chifukwa cha makina amakina. Chifukwa chake, ndikofunikira kusintha potentiometer kuti ikhale yoyenera. Kupanda kutero, ngati imodzi mwa ma servo anayi ikakamira, servo imatha kukhetsa madzi ambiri omwe angayambitse kuwonongeka kosasinthika kwa ma servo.
3. Sinthani potentiometer bwino komanso pang'onopang'ono popeza ma servos amafunikira nthawi kuti atembenuke
4. Zosankha zamagetsi: perekani magetsi osasinthika komanso okhazikika pamachitidwe a servos

Sangalalani ndi loboti yamkono yanu

Kuwongolera pamanja

Kwa ulamuliro pamanja; ndi kapu yodumpha yoyikidwa pa Robot Arm Extension Board, mutha kuwongolera mkono wanu wa Robot posintha ma potentiometer anayi.

PC control mawonekedwe

Mu gawo ili, mutha kuwongolera Arm yanu ya Robot polumikiza doko la USB ku Iduino UNO Board. Ndi Seri Communication kudzera pa chingwe cha USB, lamuloli limatumizidwa kuchokera ku Upper Computer Software yomwe imangopezeka kwa ogwiritsa ntchito Windows pakadali pano.

Choyamba, koperani kachidindo katsopano kapamwamba pakompyuta yanu ku Arduino UNO Board yanu.

Dinani kawiri pa

"Upper_Computer_Softwa re_Control.ino".

Kenako dinani batani Kwezani.

Koperani mapulogalamu ntchito kuchokera Pano: http://microbotlabs.com/ so mafayilo.html, ngongole kwa microbotlab.com

• Tsegulani pulogalamuyi ndikudina Chabwino kuti mupitilize

• Chonde lowetsani Arduino USB musanayambe pulogalamu ya Mecon yodziwira madoko kapena gwiritsani ntchito batani la "Scan for Ports" kuti mutsitsimutse madoko omwe alipo. Sankhani doko la USB.

• Pankhaniyi kuti tiwonetse, tikugwiritsa ntchito COM6.

Nambala ya COM iyi imatha kusiyanasiyana. Chonde yang'anani Chokonzera Chipangizo kuti mupeze nambala yolondola ya COM.

• Control Robot Arm ndi kutsetsereka servo 1/2/3/4 Mipiringidzo

Tsopano ndi nthawi yosangalala! Yatsani mphamvu, ndikuwona momwe DIY Arduino Robot Arm yanu imayendera! Pambuyo pa msonkhano womaliza ndi kutsegula, mkono wa Robot ungafunike kusintha ndi kukonzanso. Robot idzachita momwe imapangidwira. Kuwona zomwe code ikuchita ndi gawo la maphunziro. Tsegulaninso Arduino IDE yanu ndipo tikukutsimikizirani kuti muphunzira zambiri mukamvetsetsa bwino code.

Chonde masulani bolodi la Sensor ku bolodi ya Arduino UNO ndikudula bokosi lamagetsi la 18650 kuti musinthe khodi yanu.. Kupanda kutero, zitha kuvulaza Roboti yanu ndi PC yanu chifukwa imatha kuyendetsa mphamvu yayikulu kudzera padoko lanu la USB.

Zidazi ndi poyambira chabe ndipo zitha kukulitsidwa kuti ziphatikizepo masensa ena ndi ma module. Muli ndi malire ndi malingaliro anu.

TA0262 Arduino Robot ARM 4 DOF Mechanical Claw Kit Manual - Tsitsani [wokometsedwa]
TA0262 Arduino Robot ARM 4 DOF Mechanical Claw Kit Manual - Tsitsani

Maumboni

• Buku Logwiritsa Ntchito