PiPER ROBOTIC ARM
Kurumidza kutanga mushandisi bhuku V1. 0
2024. 09
Ruzivo Rwakakosha Chekuchengetedza
Ichi chitsauko chine ruzivo rwakakosha rwekuchengetedza. Chero munhu kana sangano rinofanirwa kuverenga nekunzwisisa ruzivo urwu risati rashandisa mudziyo, kunyanya usati waubatidza kekutanga. Zvakakosha kutevedzera uye kutevedzera mirairo yese yegungano uye nhungamiro mubhuku rino. Nyatsocherechedza zvinyorwa zvine chekuita nezviratidzo zveyambiro. Usati washandisa mudziyo, iva nechokwadi chekuwana uye kuverenga "PiPER User Manual." Kana uine chero mibvunzo nezve kushandiswa, inzwa wakasununguka kutibata nesu pa support@agilex.ai.
Yambiro icon：⚠Izvi zvinoreva mamiriro anogona kukonzera njodzi, iyo, ikasadziviswa, inogona kukonzera kukuvara kwemunhu, kukuvara kwemidziyo, uye kukuvara kwakanyanya kwemidziyo.
Yambiro ⚠:Songling Robot Co., Limited (Zita reBrand: AgileX Robotics. Hereinafter inonzi AgileX Robotics. ) haizove nemhosva kana ruoko rwerobhoti rukakuvadzwa, kuchinjwa kana kugadziridzwa neimwe nzira. AgileX Robotics haizove nemhosva kune chero kukanganisa kuruoko rwerobhoti kana chero imwe midziyo inokonzerwa nekukanganisa kwehurongwa kana kutadza kushanda.
Kuganhurirwa kweChikwereti: Kana ruoko rwerobhoti rwangoiswa mukushandiswa, zvinofungidzirwa kuti waverenga, wakanzwisisa, wabvuma, uye wagamuchira zvese zvirevo uye zvirimo mugwaro remushandisi wechigadzirwa uye ruzivo rwekuchengetedza. Mushandisi anozvipira kuve ane mhosva yezvaanoita uye zvese zvinokonzeresa zvinobva kwavari. Mushandisi anobvuma kushandisa ruoko rwemarobhoti chete nekuda kwezvikonzero zviri pamutemo uye anogashira mazwi aya, pamwe nechero mitemo yakakodzera kana nhungamiro iyo AgileX Robotics inogona kumisikidza. Panguva yekushandiswa kwerobhoti ruoko, ndapota nyatsotevedzera uye uteedzere zvinodiwa zvinotsanangurwa mukati, asi zvisingagumire kune, bhuku remushandisi uye ruzivo rwekuchengetedza.
AgileX Robotics haizovi nemhosva yekukuvara kwemunhu, tsaona, kukuvadzwa kwepfuma, kukakavara kwemutemo, kana kukakavara kwechido kunokonzerwa nekushandisa zvisina kunaka kana kumanikidza majeure. Ruoko rwerobhoti haruna kukodzera kune vanhu vari pasi pemakore gumi nemasere kana avo vasina hunyanzvi hweveruzhinji. Ndokumbirawo uve nechokwadi chekuti vanhu vakadai havasangani nechigadzirwa ichi, uye tora matanho ekuwedzera paunenge uchishandisa chishandiso pamberi pavo.
Ruzivo rwuri mugwaro rino harivhare dhizaini, kuisirwa, uye kushanda kwerobhoti rakazara ruoko application, uye harisanganisi zvese zvinogoneka zveparipheral zvishandiso zvinogona kukanganisa kuchengetedzeka kwehurongwa hwese. Dhizaini uye kushandiswa kweiyo yakazara sisitimu inofanirwa kuenderana nezvinodiwa zvekuchengetedza zvakamiswa nezviyero uye mirau yenyika inoiswa ruoko rwerobhoti.
Iro ibasa rerobhoti ruoko musanganisi uye wekupedzisira mutengi kuona kuteedzera kwakakodzera mirau nemitemo inoshanda, kuve nechokwadi chekuti hapana njodzi dzakakura dziripo mune yakazara robhoti ruoko application. Izvi zvinosanganisira, asi hazvigumiri kune, zvinotevera:
1. Kubudirira uye Mutoro
- Ita ongororo yenjodzi kune yakazara robotic ruoko system.
- Batanidza mamwe maturusi ekuchengetedza mamwe machina sekutsanangurwa kwazvinoitwa mukuongorora njodzi.
- Ita shuwa dhizaini chaiyo uye kuisirwa kwese robhoti ruoko system, kusanganisira zvese software uye hardware.
- Musanganisi uye mutengi wekupedzisira anofanirwa kutevedzera mirau yakakodzera uye zvinoshanda zvemutemo zvinodikanwa zvekuongororwa kwekuchengetedza kuona kuti iro rakagadzirwa robhoti ruoko harina njodzi huru kana njodzi dzekuchengetedza mumashandisirwo chaiwo.
- Ngwarira chero njodzi dzinogona kuitika usati washandisa uye kushandisa mudziyo.
- Ita shuwa kuti vashandisi havagadzirise chero matanho ekuchengetedza.
- Unganidza zvese zvinyorwa muhunyanzvi files, kusanganisira kuongororwa kwenjodzi uye bhuku rino.
2. Environment
- Usati watanga kushandisa, nyatsoverenga bhuku rino kuti unzwisise mashandisirwo akakosha uye nhungamiro dzemashandisiro.
- Sarudza nzvimbo yakavhurika yekushandisa, sezvo robhoti ruoko rusingauye nechero otomatiki chipingamupinyi-kunzvenga kana masensor ekunzwa.
- Shandisa robhoti ruoko munzvimbo ine tembiricha iri pakati -20°C ne50°C.
- Kana iro robhoti ruoko rusina tsika-yakagadzirwa neyakajeka IP yekudzivirira chiyero, mvura yayo uye guruva kuramba yakayerwa paIP22.
3. Tarisa
- Ita shuwa kuti ruoko rwerobhoti haruna zvinooneka zvisiri izvo.
- Iva nechokwadi chekubatanidza kwakakodzera kweiyo wiring harness panguva yekushandiswa.
4. Kushanda
- Ita shuwa kuti nzvimbo yakatenderedza yakavhurika panguva yekushanda.
- Shanda mukati mekuona.
- Iyo yakanyanya kubhadhara yerobhoti ruoko ndeye 1.5KG; shuwa kuti mutoro unoshanda haupfuure 1.5KG panguva yekushandiswa.
- Kana iyo michina ikaratidza kusagadzikana, rega kuishandisa nekukasira kudzivirira kukuvara kwechipiri.
- Kana zvisizvo zvikaitika, taura nevashandi vehunyanzvi uye usazvibate wega.
- Shandisa zvishandiso munzvimbo inosangana neIP yekudzivirira zviyero zvinodiwa.
5. Yambiro⚠:
- Ita shuwa kuti iro robhoti ruoko uye maturusi / magumo ekuita zvinogara zvakanatswa uye zvakachengeteka zvakagadziriswa munzvimbo.
- Kana iwe uchifanira kupinda munzvimbo yekushanda yerobhoti ruoko, pfeka magirazi ekuchengetedza uye midziyo yekudzivirira kuti uzvidzivirire.
- Ita shuwa kuti ruoko rwerobhoti rine nzvimbo yakakwana yekufamba kwemahara.
- Ita shuwa kuti matanho ekuchengetedza anotangwa sezvakatsanangurwa muongororo yenjodzi.
- Usapfeke zvipfeko zvakasununguka paunenge uchishanda robhoti ruoko. Sunga shure bvudzi refu paunenge uchishandisa robhoti ruoko.
- Usashandise robhoti ruoko kana kukuvara kana kuratidza chero abnormalities.
- Kana iyo komputa software ichiratidza mameseji ekukanganisa, nekukurumidza ita kumira kwechimbichimbi uye ubate vakakodzera vehunyanzvi.
- Ita shuwa kuti vanhu vanochengeta misoro yavo, zviso, kana mamwe nhengo dzemuviri kure neruwoko rwemarobhoti kana kubva munzvimbo iyo ruoko rwerobhoti runogona kusvika panguva yekushanda.
- Usambofa wakagadzirisa ruoko rwerobhoti. Kushandura ruoko rwerobhoti kunogona kuunza njodzi dzisingatarisirwe kune musanganisi.
- Usafumure ruoko rwerobhoti kune isingaperi magineti minda. Simba remagineti rinogona kukuvadza ruoko rwerobhoti.
- Ruoko rwerobhoti runoburitsa kupisa panguva yekushanda. Usabate kana kubata ruoko rwerobhoti pachiri kushanda kana nguva pfupi yamira, sezvo kubata kwenguva refu kunogona kukonzera kusagadzikana. Simba kudzima sisitimu uye mirira kweawa imwe kuti robhoti ruoko rutonhodze pasi.
- Kubatanidza michina yakasiyana pamwe chete kunogona kuwedzera njodzi kana kuunza njodzi itsva. Nguva dzose ita ongororo yakazara yenjodzi yekuiswa kwese. Zvichienderana nekuongororwa kwengozi, maitiro akasiyana ekuchengetedza ekuchengetedza anogona kushanda; saka, kana kuchengetedzwa kwakasiyana uye nekukurumidzira kumira kwekuita mazinga anodiwa, nguva dzose sarudza yepamusoro-soro nhanho yekuita. Gara uchiverenga uye unzwisise zvinyorwa zveese maturusi anoshandiswa mukuisa.
- Ruoko rwemarobhoti haruna kukodzera kushandiswa nevanhu vari pasi pemakore gumi nemasere kana avo vasina hunyanzvi hweveruzhinji.
Nhanganyaya
Iyi 6 DOFs robhoti ruoko yakanyatsogadzirirwa iyo dzidzo neindasitiri yekutsvagisa, yevatengi-chikamu mashandisirwo, uye maindasitiri otomatiki. Iine payload inokwana 1.5kg, inokodzera kutsvagisa kwakasiyana-siyana uye maindasitiri ekushandisa, kusanganisira marobhoti ehunoid, gungano reotomatiki, uye otomatiki kubata. Iwo majoini matanhatu anotenderera anopa akazara-renji kushanda kuchinjika, kuve nechokwadi chepamusoro kurongeka uye kudzokorora. Iyo robhoti ruoko inoratidzira modular dhizaini, zvichiita kuti zvive nyore kuchengetedza nekusimudzira. Inopa intuitive mushandisi interface iyo inorerutsa hurongwa nekushanda, ichibvumira kunyange vasiri nyanzvi kuti vatange nekukurumidza. Inogona kushandiswa zvakanyanya mundima dzakadai sekutsvagisa kwesainzi, dzidzo, kugadzira mota, kusangana kwemagetsi, kugadzira chikafu, marabhoritari otomatiki, uye mashandiro emidziyo yekurapa.
1.1. Packing List
| Zita | Quantity |
| 6 DOFs Robhoti ruoko | 1 |
| USB kuCAN module | 1 |
| Power adapter | 1 |
| MicroUSB tambo | 1 |
| Simba uye tambo yekukurukurirana | 1 |
| Base mounting screws | 4 |
| Base installation wrench | 1 |
Basic Use
Ruoko rwerobhoti rune 6 DOFs uye 1.5kg payload pakupera. Iwo majoini matanhatu anotenderera anopa akazara-renji kushanda kuchinjika, kuve nechokwadi chepamusoro kurongeka uye kudzokorora. Iyo inoratidzira dhizaini yakareruka, ichibvumira ruoko rwerobhoti kuti iwane kukurumidza kufamba kugona uku ichichengetedza yakakwira mubhadharo. Inogona kushandiswa zvakanyanya muhungwaru hwakamisikidzwa kune chaiyo-yenyika data kuunganidza.
2.1. Yemagetsi Interface Nhanganyaya
2.1.1 Robotic Arm Electrical Panel Instructions
- Simba nekutaurirana chiteshi
- Status Indicator Chiedza
- J1 & J2 yekubatanidza chiteshi
2.1.2 Aviation plug Instructions
- Simba nekutaurirana chiteshi
- Chiedza chechimiro chechiedza
- J1J2 yekubatanidza chiteshi
- Power positive
- Power negative
- UNOGONA-H
- UNOGONA-L
Cherechedza: Gadzirisa dot dzvuku neinoenderana dzvuku patambo. Iyo textured nzvimbo ye connector yakagadzirirwa kudzoka pasi pesimba. Panguva yekuisa, gadzirisa dot dzvuku pasi nechekuburikidza uye uise zvakananga. Kuti ubvise, dzvanya pane iyo textured nzvimbo uye dhonza kunze.
2.1.3 CAN kubatana
CAN Kubatanidza uye Kugadzirira
Budisa kunze CAN tambo wobatanidza CAN_H neCAN_L waya kuCAN_TO_USB adapta.
Batanidza CAN_TO_USB adapta kune Laptop's USB port. Dhiyagiramu yekubatanidza inoratidzwa muMufananidzo 3.4.
Cherechedza: Kana ukashandisa isina-standard charger, simba rekupinza harifanire kudarika 26V, uye ikozvino haifanirwe kunge iri pasi pe10A.
2.2. Robotic Arm Dzidzisa / Kuratidzira Mode Mirayiridzo
Iyo robhoti yeruoko yekukweva & dzidzisa modhi mamiriro inoratidzwa nebhatani mwenje pakati peJ5 neJ6.
Kune matatu marudzi erobhoti ruoko chimiro mwenje maratidziro:
- Hapana chiedza chinoratidza: Robhoti yeruoko yekudhonza & kudzidzisa mode yamiswa, kana kudhonza kurekodha kwapera.
- Solid green light: Ruoko rwerobhoti rwakapinda mukudhonza & dzidzisa maitiro ekurekodha trajectory.
- Kupenya mwenje wegirini: Ruoko rwerobhoti rwakapinda mukudhonza & dzidzisa maitiro ekutamba kwetrajectory.
Maitiro ekuchinja kudhiza mode:
- Bhatani rekudzvanya rimwechete: Shandura pakati pekudhonza dzidzisa trajectory kurekodha uye kumisa kudhonza kurekodha.
- Kudzvanya kaviri bhatani: Inomutsa iyo yekudhonza dzidzisa trajectory yekutamba modhi.
Mirayiridzo:
Kutanga, tarisa chimiro chechiedza chechiratidzo:
- Kana mwenje wakadzimwa, baya bhatani kamwe chete. Chiedza chegirinhi chinofanirwa kushanduka chakasimba, zvichiratidza kuti mushandisi anogona kudhonza ruoko rwerobhoti kuti atange kurekodha trajectory.
- Kana mwenje wakadzimwa uye gwara rakarekodhwa kare, tinya bhatani kaviri. Chiedza chegirini chinofanirwa kupenya ma500ms ega ega, zvichiratidza kuti ruoko rwerobhoti rwuri mukutamba uye ruchaburitsa zvakarekodhwa trajectory.
- Kana chiedza chakasimba, zvinoratidza trajectory kurekodha iri kuitika. Kuti umise kurekodha, tinya bhatani kamwe chete; chiedza chinofanira kudzima, zvichiratidza kuti kurekodha kwapera. Kana iwe uchida kudzokorora trajectory, tevera nhanho 2.
- Kana mwenje uchipenya, ruoko rwerobhoti parizvino rwuri mukutamba.
Notes:
- Munguva yekutamba kwetrajectory, mushandisi anofanira kuchengetedza chinhambwe kubva paruoko rwerobhoti kudzivirira kukuvara.
- Pese panopinda ruoko rwerobhoti dzidzisa trajectory yekurekodha modhi, iyo yakamborekodhwa trajectory inodzimwa. Iyo yekutamba modhi ichashandisa yazvino yakarekodhwa trajectory.
- Iyo yakanyanya trajectory yekurekodha nguva ndeye 3 maminetsi; chero nzira inopfuura nguva ino ichave isingashande.
- Mushure mekupedza kudzidzisa kwekudhonza, ita shuwa kuti mwenje wechiratidzo wadzima / kudhonza nzira yekudzidzisa yamiswa.
- Kana iwe uchida kushandura kuitisa komputa kutonga kana kutonga kwekuraira, ita shuwa kuti chiratidzo chemwenje chakadzimwa / kudhonza kudzidzisa modhi yamiswa.
Wobva wachinja kumodhi yekumira kuburikidza nekombuta inotambira, uye mushure mekupinda mumodhi yekumira, chinja kuCAN modhi. Izvo zvinoshandawo kukuraira kutonga-kutanga chinja kune yekumira modhi, wozochinja kuCAN control mode.
Cherechedza: Paunenge uchichinja kubva pane yekubatanidza modhi uye dzidzisa nekudhonza modhi kuenda kuCAN control mode, ruoko rwerobhoti runofanira kuiswa panzvimbo ye zero isati yachinja modes. Iyo zero point inoratidzwa mumufananidzo uri pazasi:
2.3. Base Installation Instructions
Iyo robotic arm base inoiswa uchishandisa screws yekugadzirisa. Chigadziko chine maburi mana akafanocherwa M5 ane threaded. Iyo yekuwedzera kit inosanganisira mana M5 screws, iyo inogona kusimbiswa uchishandisa yakapihwa hex chishandiso. Gomba spacing i70mm. Kana iwe uchida kubatanidza chigadziko kune nharembozha kana nzvimbo yakagadziriswa, unogona kugadzira inowirirana chimiro ne 70mm gomba spacing.
2.4. Pedzisa Chikamu Kuisa Mirayiridzo
Iyo yekupedzisira inogona kuve yakashongedzerwa nemamwe maturusi kuburikidza neflange. Optional accessories zvinosanganisira chibatiso cheminwe miviri uye pendant yekudzidzisa. Nzira yekuisa inoratidzwa mumufananidzo uri pasi apa. Tsanangudzo yezvigunwe zviviri gripper uye yekudzidzisa mudziyo paramita inogona kuwanikwa mune tekinoroji yakatarwa kumagumo.
ArmRobotUA Host Kombuta Yekushandisa Mirayiridzo
Software Dhawunirodha:
Link: https://drive.google.com/file/d/1771e87UGdkGwgVuO4XFAio8x4Uajmneh/view?usp=drive_link
Uchishandisa PC ine Windows 7 kana kupfuura, tinya kaviri kuti uvhure iyo komputa software. Kuburikidza neiyi munhu-muchina wekudyidzana software, unogona kushandisa iro robhoti ruoko uye kuverenga mhinduro kubva kune yekunze network yerobhoti ruoko. Iyo mushandisi interface inoratidzwa sezvizvi:
Mazita enzvimbo dzinoshanda mune inotambira komputa software panel
| Index | Zita |
| 1 | Robotic Arm Kukurukurirana Bhatani |
| 2 | Menu Options |
| 3 | Speed Percentage Setting |
| 4 | Robotic Arm Gonesa Bhatani |
| 5 | Robotic Arm Emergency Stop Bhatani |
| 6 | Window Resize/Vhara mabhatani |
| 7 | Operation Function Area |
| 8 | 3D Simulation Model |
| 9 | Trajectory Library Basa |
| 10 | Robotic Arm Joint Status |
| 11 | Robotic Arm Status Bar |
Secondary Development
Parizvino, ruoko rwerobhoti runotsigira kusimudzira kwechipiri kuburikidza nePython SDK uye ROS1 mutyairi package. Kuti uwane yakadzama yechipiri yekuvandudza mirairo, ndapota tarisa kune iyo GitHub link.
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
Zvinotaurwa Nezvehunyanzvi
Robotic Arm Zvinotsanangurwa:
| Parameter Type | Item | Tsanangudzo |
| Maumbirwo eParameter | Madhigirii eRusununguko | 6 |
| Effective Load | 1.5KG | |
| Kurema | 4.2KG | |
| Kudzokorora | ±.0.1mm | |
| Kushanda nharaunda | 626.75mm | |
| Standard Power Supply Voltage | DC24V (Min: 24V, Max: 26V) | |
| Kushandisa Simba | Simba Rakawanda ≤ 120W, Simba Rakazara ≤ 40W | |
| Material | Aluminium Alloy Frame, Plastic Shell | |
| Controller | Integrated | |
| Kukurukurirana Nzira | CAN | |
| Kudzora Nzira | Dzidzisa nekudhonza / Offline Trajectory / API / Host Computer | |
| External Interfaces | Power Interface x1, CAN Interface x1 | |
| Base Installation Size | 70mm x 70mm x M5 x 4 | |
| Nzvimbo Yekushanda | Tembiricha: -20 kusvika 50 ℃, Humidity: 25% -85%, Non-condensing | |
| Noise | <60dB | |
| Installation | Inoenderana nezvose AgileX marobhoti zvigadzirwa | |
| Motion Parameters: | Joint Motion Range | J1:±154° J2:0°~195° J3:-175°~0° J4:-106°~106° J5:-75°~75° J6:±100° |
| Joint Max Speed | J1:180°/s J2:195°/s J3:180°/s J4:225°/s J5:225°/s J6:225°/s | |
| Cherechedza: Iyo data iri pamusoro apa ndeye mhinduro dzeAgileX robhoti ruoko munzvimbo inodzorwa yekuyedza. Migumisiro inogona kusiyana pasi pemamiriro akasiyana-siyana uye nzira dzekushandisa. Chiitiko chaicho chinofanira kufungwa nezvazvo. | ||
Optional muteveri Gripper Zvinotsanangurwa:
| Zviviri-Finger Gripper Parameters | |
| Kurema | 500g |
| Kururama | ±.0.5mm |
| Kuvhura Distance | 0-70mm |
| Rated Clamping Force | 40N |
| Max Clamping Force | 50N |
| Power Supply Voltage | DC24V |
| Kushandisa Simba | Simba Rakawanda ≤ 50W, Simba Rakazara ≤ 30W |
| Bata Surface Material | Rubber |
| Controller | Integrated |
| Kukurukurirana Nzira | CAN |
| Kudzora Nzira | Dzidzisa nekudhonza / Offline Trajectory / API / Host Computer |
| External Interfaces | Power Interface x1, CAN Interface x1 |
| Installation Method | Flange Mount |
| Nzvimbo Yekushanda | Tembiricha: -20 kusvika 50 ℃, Humidity: 25% -85%, Non-condensing |
| Noise | <60dB |
| Ongorora: Iyo data iri pamusoro ndeye bvunzo mhinduro dzeAgileX munzvimbo inodzorwa yekuyedza. Migumisiro inogona kusiyana pasi pemamiriro akasiyana-siyana uye nzira dzekushandisa; ruzivo chairwo runofanira kufungwa nezvarwo. | |
| Kudzidzisa Device Parameters | |
| Kurema | 550g |
| Kururama | ±.0.5mm |
| Kuvhura Distance | 0-70mm |
| Rated Clamping Force | 40N (Force Control, Force Feedback)) |
| Max Clamping Force | 50N (Force Control, Force Feedback) |
| Power Supply Voltage | DC24V |
| Kushandisa Simba | Simba Rakawanda ≤ 50W, Simba Rakazara ≤ 30W |
| Bata Surface Material | Rubber |
| Controller | Integrated |
| Kukurukurirana Nzira | CAN |
| Kudzora Nzira | Dzidzisa nekudhonza / Offline Trajectory / API / Host Computer |
| External Interfaces | Power Interface x1, CAN Interface x1 |
| Installation Method | Flange Mount |
| Nzvimbo Yekushanda | Tembiricha: -20 kusvika 50 ℃, Humidity: 25% -85%, Non-condensing |
| Noise | <60dB |
| Ongorora: Iyo data iri pamusoro ndeye bvunzo mhinduro dzeAgileX munzvimbo inodzorwa yekuyedza. Migumisiro inogona kusiyana pasi pemamiriro akasiyana-siyana uye nzira dzekushandisa; ruzivo chairwo runofanira kufungwa nezvarwo. | |
AgileX Robotics
Zvinyorwa / Zvishandiso
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AgileX PiPER Robotic Arm [pdf] Bhuku reMushandisi PiPER Robotic Arm, PiPER, Robotic Arm, Arm |