Arduino Robhoti ARM 4

 Overview 

Mune ino kuraira, isu tinokuzivisa iwe kuburikidza neinonakidza chirongwa cheArduino Robhoti Arm 4DOF Mechanical Claw Kit. Iyi DIY Arduino UNO yakavakirwa Bluetooth kabhoti kit yakavakirwa paArduino Uno yekuvandudza bhodhi Izvi zvakapusa uye zviri nyore kuvaka kit ndeyeiyo yakakwana Arduino Project yeVatangi uye inzvimbo huru yekudzidza yekupinda muRobotics neUinjiniya.

Iyo Robhoti Arm inouya yakati sandara paketi yegungano uye inoda yakanyanya kushoma soldering kuisimudza uye kumhanya. Inobatanidza 4 SG90 servos iyo inobvumidza 4 Degree yekufamba uye inogona kutora zvinhu zvakareruka pamwe nenzara. Kudzora kwemaoko kunogona kuitwa ne4 potentiometers. Ngatitangei!

Kutanga: Arduino Robot Arm 4dof Mechanical Claw Kit

Chii chinonzi Arduino?

Arduino ndeye yakavhurika-sosi yemagetsi chikuva kunoenderana neyakareruka-kushandisa Hardware uye software. Arduino mabhodhi anogona kuverenga zvigadzirwa - mwenje pane sensor, chigunwe pane bhatani, kana meseji yeTwitter - uye wochichinja kuita chakaburitsa - kumhanyisa mota, kubatidza LED, kushambadzira chimwe chinhu online. Iwe unogona kutaurira bhodhi rako zvekuita nekutumira seti yemirairo kune microcontroller ari pabhodhi. Kuti uite kudaro iwe unoshandisa iyo Arduino programming mutauro (zvichibva paWiring), uye iyo Arduino Software (IDE), zvichibva paProcessing.

Chii chinonzi IDUINO UNO?

IDuino Uno iri paATmega328. Iyo ine gumi nemana edhijitari yekuisa / yekubuda mapini (ayo matanhatu anogona kushandiswa sePWM zvinobuda), 14 analogue zvinopinda, 6 MHz ceramic resonator, USB kubatana, simba jack, musoro weICSP, uye bhatani rekuseta. Iine zvese zvinodiwa kutsigira microcontroller; ingoibatanidza kune komputa ine tambo yeUSB kana kuisimbisa ine AC-to-DC adapta kana bhatiri kuti utange.

Kuiswa kwesoftware

Muchikamu chino, isu tinokuzivisa iwe chikuva chekuvandudza apo iwe unoshandura yekugadzira pfungwa kuita makodhi uye woirega ichibhururuka.

Arduino Software / IDE

Vhura Windows-based app nekukanya kaviri uye uteedzere rairo yekupedzisa (Rangarira kuisa zvese mutyairi weArduino). Nyore!

Mufananidzo 1 Kuiswa kwevatyairi

Kubatanidza UNO board yako nekombuta yako

Kubatanidza UNO nePC yako netambo yebhuruu USB, uye kana ukabatanidzwa nemazvo uchaona iro girini simba reUS mwenje uye imwe yeorenji LED iri kubwaira.

Mufananidzo 2 Tarisa Yako yakasarudzika COM uye utarise pasi penhamba

Tsvaga yako Serial COM nhamba uye nyora pasi.

Isu tinofanirwa kuona kuti ndeipi chiteshi COM iri kutaurirana pakati pePC neUNO. Kutevera iyo nzira: Dare rekutonga | Hardware uye Inzwi | Midziyo uye maPrinta | Maneja Wedhi | Zviteshi (COM & LPT) | Arduino UNO (COMx)

Cherekedza pasi iyo COM nhamba sezvatinoda izvi gare gare. Sezvo chiteshi cheCOM chingasiyana nguva nenguva, danho iri rakakosha. Mune ino kesi nechinangwa chekuratidzira, tiri kushandisa iyo COM 4.

Tamba neyako yekutanga "Mhoro Nyika" LED example

Chekutanga, ngatitaurire IDE kuti ungawana kupi Arduino chiteshi uye bhodhi rauri kushandisa parizvino: Unotevera kuraira (Mufananidzo 3 ne4) unoratidza izvo.

Kugadziriswa kweMachiteshi

Kugadziriswa kweBhodi

Yave nguva yekutamba newe first simple example. Kutevera nzira File | Exampizvi | 01. Basics | Blink. Iwindo idzva rekodhi raizobuda, dzvanya chiratidzo chemuseve kuti uise. Iwe unozoona iyo orenji LED iri kupenya ingangoita sekondi yega yega.

Hardware installation

4 x Servo SG90 ine servo package (sikuru nenzungu dzakabatanidzwa) 4 x Base racks ane dziviriro kavha (nyore kubvisa) uye sikuruwa package Robhoti Arm yekuwedzera bhodhi ine rakaparadzana simba jack (Ndokumbira kuti uone simba remhinduro) USB tambo Iduino UNO Bhodhi
Mupakeji, kubva kuruboshwe kuenda kurudyi:  M3 * 30mm M3 * 10mm M3 * 8mm M3 * 6mm Kubata skew M3 nati

Dunhu soldering

Iyi Robhoti Arm Kit inoda yakanyanya kushoma soldering kuti zvese zvishande uye zvinoshanda. Iyo Robhoti Arm Yekuwedzera Bhodhi inoshandiswa kubatanidza chinongedzo pakati peanodzora, mune ino purojekiti, iwo mana potentiometers uye Iduino UNO Bhodhi.

Kuchenjerera: Ndapota chenjera kana uchishandisa inopisa Soldering Iron.

Mufananidzo 3 Basic mufananidzo weRobot ARM bhodhi

Gadzirira:

1. Imwe Robhoti Arm Yekuwedzera Bhodhi
2. Imwe 12V Nhema Simba jack
3. 52P Pin misoro
4. Rimwe bhuruu rekunze Simba rekushandisa
5. Imwe Nhema yeBluetooth Interface

Ipapo solder Pini yea servos uye Power jack.

Ndokumbira kuti muzive kuti maPini eiyo servo interface akatarisana mudenga, yeIduino interface pasi.

Wobva wasungira iyo ina potentiometers

Iyo jumper cap inoshandiswa pakudimbudzira Robot Arm Extension Board uye Iduino UNO Bhodhi, zvinoreva kuti haufanire kumisikidza iyo Iduino UNO bhodhi zvakasiyana.
Isa mukati mejump kapu sezvo isu tiri kushandisa imwe yekunze magetsi magetsi, 12V bhatiri Bhokisi.

Wobva waisa makavha mana esirivheri pane asina kupfeka potentiometers. Iye zvino wapedza iyo soldering chikamu!

Software debugging

Arduino UNO Code Kuisa

Iyo Robhoti ichaita pamagadzirirwo ayo. Kunzwisisa uye kutora izvo zviri mukati meIduino UNO bhodhi, kureva kuti kodhi yechirongwa chikamu chakakomba chekudzidza. Muchikamu chino, chinangwa chedu chekupedzisira ndechekuita chokwadi chekuti servos uye potentiometers ari kushanda nemazvo.

Kana iyi iri purojekiti yako yekutanga yeArduino, ndapota tevera rairo nemazvo. Chekutanga, dhawunirodha makodhi ane hukama kubva kune yedu website.

• Tinya kaviri chiratidzo kuti uvhure chirongwa uye wovhura iyo file munzira: File | Vhura

• Vhura iyo me_arm3.0 Arduino file

Software debugging

Dzvanya bhatani rekuisa nekurudyi museve paTool Bar kuti uise yako file kuUNO

Waita kurodha mamiriro, kana zvisiri, tarisa iyo Bhodhi neMachiteshi mu Chikamu che 3.2 kuve nechokwadi chekuti uri kubatanidza UNO yako nemazvo

Servo kugadzirisa

Ipapo ngationgororei ma servos edu kuti tione kana ari kufamba mushe. Iwo masevhosi anofanirwa kutenderera mushe paunenge uchitamba uchitenderera neanowirirana potentiometers. Kana zvisiri, ita shuwa kuti waisa kodhi yako nenzira kwayo ne "Done upload" chiratidzo chakatsanangurwa pamusoro uye isa iyo servo bhodhi rakasimba pabhodhi reUNO neese mapini akarongedzwa zvakanaka. Kunyanya kukosha, plug mune inovimbwa magetsi magetsi nemazvo apo magetsi magetsi mirairo inozoratidzwa mune inotevera chikamu. Ngwarira kuiverenga zvikasadaro unogona kupisa yako Arduino yakakosha microcontroller.

Servo ine pini nhatu:

• Signal
• GND
• VCC

Iyo kona yekutenderera inodzorwa nePWM (pulse wide modulation) chiratidzo chebasa kutenderera Iyo kuwanda kwePWM kazhinji iri pakati kubva 30 kusvika 60Hz - izvi zvinodaidzwa kuti zororo reti. Kana chiyero ichi chekuzorodza chiri chidiki kwazvo saka kururamisa kweservo kunodzikira painotanga kurasikirwa nenzvimbo yayo nguva nenguva kana mwero wakanyanya, saka servo inogona kutanga kutaura. Izvo zvakakosha kusarudza yakanakisa chiyero, iyo servo mota inogona kukiya nzvimbo yayo.

Ndokumbirawo muve nechokwadi chekuti servo yega yega inoshanda nemazvo sezvo ivo vakaoma kubvisa.

Unganidza iyo servo interface kune iyo UNO servo slot imwe-ne-imwe, kubva pane slot 4 kusvika kune slot 1 iyo inodzorwa neinoenderana potentiometer

Chivhariso 9-12v 2A magetsi muArduino simba jack ne jumper cap (iyo Servo bhodhi) iri

Magetsi

Simba rinoita basa rakakosha mukumhanyisa iyo Robhoti Arm system sezvo kushomeka kwemagetsi kunogona kutungamira kune servo yekufambisa giya jitter uye chirongwa chinomhanya zvisina kujairika. Magetsi maviri akazvimiririra anozodiwa, imwe kutyaira Uno bhodhi rekuvandudza uye imwe kutyaira iwo potentiometer servo controllers. Muchikamu chino, tinokuzivisa dzimwe nzira dzinoverengeka dzemagetsi kuti zvive nyore kwauri:

1. (Yakakurudzirwa) Shandisa 5V 2A simba adapter uye plug mune 2.1mm DC socket pane potentiometer bhodhi.
2. (Neimwe nzira) Shandisa 5V 2A magetsi uye kumisa mukati mebhuruu terminal block pane potentiometer bhodhi.
3. (Yakakurudzirwa) Shandisa 9v kusvika 12v adapter yemagetsi yeArduino UNO yekuvandudza bhodhi kuburikidza ne2.1mm DC socket pane Uno board.
4. (Neimwe nzira) Shandisa USB A kusvika B (purinda tambo) yakapihwa kuti ipe yakasimba 5V simba yekuisa mubhokisi reUna kubva kuUCH charger, PC kana laptop.

CHERECHEDZA: Paunenge uchigadzira zvigadziriswe kune kodhi iri paUno Board, ndapota ita shuwa kuti ubvise iyo Robhoti Arm Servo Controller bhodhi kubva kuUno bhodhi rekuvandudza uye udimbure iyo Uno Bhodhi Magetsi. Zvikasadaro, zvinogona kukonzeresa kukuvara kusingagadzirisike kuRobot yako nePC sezvo ichikwanisa kutyaira ruzha rukuru kuburikidza neako USB port.

Sisitimu Yekugadzirisa

Rack mounting

Muchikamu chino isu tiri kukutungamira iwe kuburikidza neRobot Arm Base uye kumisikidza kumisikidza.

• Tarisa bepa rekudzivirira reiyo base base

Gadzirira zvinhu:

• Base
• 4 x M3 nzungu
• 4 x M3 * 30 mm screws

• Unganidza zvikamu sezvakaratidzwa kuruboshwe

Gadzirira zvinhu:

• 4 x M3 nzungu
• 4 x M3 * 10mm
• screws

• Sunga screws uye nzungu sezvakaratidzwa kuruboshwe, ayo anoshandiswa kuchengetedza yedu Iduino UNO Board

Wobva wagadzirira zvinhu:

• 2x M3 * 8mm screws
• Nhema Servo mubati
• Nhema Servo rack

• Dhonza tambo tambo kuburikidza ne servo bracket hole sezvainodiwa kuti ubatanidze kuIduino UNO Bhodhi mumatanho anotevera

Wobva waisa iyo Servo bracket holder pamusoro peye servo holder. Iye zvino unogona kuona Servo yakachengetedzwa uye yakaiswa pakati peanobata uye bracket.

 

• Inofanira kutaridzika seichi

• Wobva waichengetedza sekuratidzwa kuruboshwe

• Inofanira kutaridzika seichi

Wobva wagadzirira zvinhu kuti uvake Forearm yeRobot

1. 2 x M3 * 8mm screws
2. Imwe Servo Bhureki
3. Imwe Servo SG90
4. Imwe Dema Main Main Arm Base

• Chengetedza iyo Servo neBracket uye Base nenzira imwecheteyo sekurairwa mune yekupedzisira Servo

• Gadzirira zvinhu:

1. 1 x M2.5 kubata screw
2. Imwe Servo Nyanga

• Chengetedza Runyanga pane dema Main ruoko acrylic neM2.5 yekukorobha sikuruu

• Pinza Main Arm paServo uye woitenderedza zvichitenderera nguva kusvikira yamira kutenderera sezvayakarongedzwa kutenderera zvisingaite wachi.

• Dhonza Main Arm uye uiise kumashure yakatwasuka, danho iri ndere kuona kuti Servo ichashandura anticlockwise kubva pano chaipo (0 degree) uye kwete kutyora ruoko kana simba richienda kutenderera

• Unganidza screw-yekuzvirovera kubva kurack package uye chengetedza iyo inoratidzwa kuruboshwe

• Unganidza maviri majoini anoshanda ne screw, yeuka usapfuure sungisa iyo screws sezvo ivo vachidikanwa kutenderera vakasununguka

• Gadzirira zvinhu:

1.  2 x M3 * 10mm
2. M3 nzungu
3. Maviri matema Clapboard Acrylic

• Isa maviri Clapboard Acrylic mune inoenderana bapiro slot

• Chekutanga, isa iyo Clapboard mune inoenderana slots uye mune anotevera matanho iyo ichave yakachengetedzwa neumwe sikuruu uye nzungu kune rumwe rutivi

• Wobva waisa iyo rack base mune inoenderana slot pakati maviri clapboards

• Inofanira kutaridzika seichi

• Chengetedza iyo Clapboard pane iyo Yakakura Arm base neimwe peya ye screw uye nati.

Zano: Bata iyo nati mune iyo slot uye wozokanda iyo M3 mukati.

• Chengetedza iyo Clapboard kune ese mativi sezvakaratidzwa kuruboshwe

• Chengetedza musana wemakemikari acrylic pakati pemberi uye ruoko rukuru ne:

1.  2 x M3 * 10mm
2. nzungu mbiri

Zano: Bata iyo nati mune iyo slot uye wozokanda iyo M3 mukati.

• Gadzirisa rimwe divi zvakare

• Wobva wagadzirira M3 * 6mm sikuruu uye imwe yakareba ruoko acrylic

• Chengetedza icho pasi kurudyi kurudyi

• Wobva washandisa imwe nhema ruoko rurefu ine matatu anoshanda majoini kubatanidza maviri epamberi majoini

• Ndokumbirawo uchengetedze masikuru mune akateedzana. Backbone acrylic muzasi yepamberi nepakati uye imwe yacho iri pamusoro

• Gadzirira zvinhu kuti uvake ruoko rworudyi rutsigiro ruoko:

1. Maviri M3 * 8
2. Imwe nhema denderedzwa spacer
3. Imwe nhema ruoko Rutsigiro
4. Imwe nhema nhema inotsigira chinongedzo

• Gadzirisa yekutanga screw sezvakaratidzwa kuruboshwe. Iyo yakatenderera spacer iri pakati.

Ndokumbirawo usapfuure sungisa iyo screws sezvo paine zvinoshanda majoini sezvo ivo vachifanira kutenderera zvakasununguka pasina kukwiza ari padyo acrylics

• Gadzirisa mumwe mugumo neruoko rutsigiro ruoko.

• Inofanira kutaridzika seichi. Ikozvino ruoko rwemberi ruchine matatu emahara akarembera magumo ayo anozopedzisira abatanidzwa kuchengetedza claw chikamu.

• Gadzirira iyo Claw servo zvikamu:

1. Makona maviri servo mabhureki
2. 4 x M3 * 8mm screws
3. Servo imwe
4. Mbiri yekubatanidza zvishongedzo

• Isa bhureki rekwere muzasi uye dhonza tambo kunze sezviri kudikanwa kuti ubatanidze kuRobot Extension Board

• Inofanira kutaridzika seichi

• Isa chikwangwani chakatenderera pamusoro peServo uye chengetedza iyo Servo ine ina M3 * 8mm screws

• Gadzirisa nzara mbiri pane rectangle servo bracket ine maviri M3 * 6mm screws.

Rangarira kuisa dema denderedzwa spacer pakati kudzikisira kupokana.

• Wobva waunganidza:

1. 4 x M3 * 8 mm screws
2. Imwe pfupi yekubatanidza
3. Imwe yakatenderera spacer

• Chengetedza icho kuruboshwe-kuruboshwe kwenzara sezvakaratidzwa kuruboshwe.

Rangarira kuisa iyo spacer pakati

• Gadzirira zvinotevera kubatanidza Claw uye Triangle rutsigiro chinongedzo:

1. Maviri M3 * 8mm screws
2. Imwe spacer
3. Rumwe rutsigiro ruoko

• Chengetedza ruoko rwekutsigira pane chinongedzo cheTriangle

• Ipapo iyo yose Claw chikamu chinokwanisa kuchengetedzwa neaya matatu emahara akarembera ruoko rwemberi.

Ndokumbirawo usasimbise iyo screws yeanoshanda majoini.

• Gadzirira screw tapping mupakeji yeServo uye servo runyanga.

• Chengetedza runyanga nekutepa sikuruu sezvakaratidzwa kuruboshwe

• Dhonza nzara dzakavhurika uye wobva waisa ruoko rwupfupi rwatakagadzira mudanho rekupedzisira uye riomese zvakasimba.

• Chengetedza iyo Iduino UNO Bhodhi paBase

• Isa iyo Robhoti Arm Yekuwedzera Bhodhi pamusoro pebhokisi reIduino UNO.

Ndapota onai kuti mapini akabatanidzwa zvakanaka.

• Wobva waisa iyo Robhoti Arm System pane iyo Base servo rack uye uisungire pane base servo ine yekukanda screw.

Iye zvino wapedza kuisirwa kwese!

 

Rack kugadzirisa

Ino yave nguva yekubatanidza yako servos kune yako Arduino UNO.

Sevhisi 1	Claw servo
Sevhisi 2	Main servo
Sevhisi 3	Forearm servo
Sevhisi 4	Kutenderera servo

Tora nguva yako uye ita chaiyo wiring uchiteedzera iri pamusoro kuraira.

Servo ine pini nhatu:

• Signal
• GND
• VCC

Pakazara system debugging

Tisati tavhura magetsi, pane zvinhu zvakati wandei zvatinoda kuongorora.

1. Ita shuwa kuti yega yega yekubatana inogona kutenderera mushe zvisina kudaro yaizotyaira yakawanda huwandu hwazvino mu servo iyo inotungamira kune "Yakavharwa" mamiriro uye ma servos anogona kupiswa nyore nyore
2. Chinja iyo potentiometer kuti ienderane neyakagadzikana servo inoshanda renji. Iyo servo inogona kushanda iyo angle: 0 ~ 180 degree pasina chero chinorambidzwa, asi kune ino chaiyo projekti iyo servo haigone nekuda kwechimiro chemishini. Nekudaro, zvakakosha kuti uchinje potentiometer kuti ive chinzvimbo chakakodzera. Zvikasadaro, kana chero imwe yema servo mana ikabatira, iyo servo yaigona kukweva ruzha rukuru mukati mayo inogona kukonzera kukuvara kusingagadzirisike kumasevhisi.
3. Chinja iyo potentiometer zvakanaka uye zvishoma nezvishoma sezvo servos inoda nguva yekutendeuka
4. Sarudzo dzemagetsi: kupa simba risingachinjiki uye rakagadzikana remasevhisi

Nakidzwa nerobhoti rako remaoko

Dzora nemaoko

Nezvemanyore kudzora; nejumper cap yakaiswa paRobot Arm Yekuwedzera Bhodhi, unogona kudzora yako Robhoti Arm nekugadzirisa mana potentiometers.

PC control interface

Muchikamu chino, unogona kudzora yako Robhoti Arm nekubatanidza USB chiteshi kuIduino UNO Bhodhi. Ne Serial Kutaurirana kuburikidza ne USB tambo, rairo inotumirwa kubva kuUpper Computer Software iyo inongowanikwa kune vashandisi veWindows izvozvi.

Kutanga, teedzera iyo nyowani yepamusoro komputa software yekudzora kodhi kune yako Arduino UNO Board.

Tinya kaviri pa

"Kumusoro_Computer_Softwa re_Control.ino".

Wobva warova bhatani rekuisa.

Dhawunirodha software yekushandisa kubva here: http://microbotlabs.com/ so ftware.html, chikwereti microbotlab.com

• Vhura iyo app uye dzvanya OK kuti uenderere mberi

• Ndokumbirawo ubaye muArduino USB usati watanga Mecon software yekutsvaga auto port kana kushandisa bhatani re "Scan for Ports" kuti uvandudze mapoti anowanikwa. Sarudza chiteshi che USB.

• Mune ino kesi kuratidza, tiri kushandisa COM6.

Iyi COM nhamba inogona kusiyana nyaya nezviitiko. Ndokumbira utarise Chishandiso Manger kuti ive chaiyo COM chiteshi nhamba.

• Chengetedza Robhoti Arm nekutsvedza iyo servo 1/2/3/4 Mabhawa

Ino ndiyo nguva yekunakidzwa! Dzorera simba, uye ona kuti yako DIY Arduino Robhoti Arm inoenda sei! Mushure memusangano wekupedzisira nekumisikidza, ruoko rweRobot runogona kuda kugadziriswa uye kugadzirisa dambudziko. Iyo Robhoti ichaita pamagadzirirwo ayo. Kufunga zviri kuitwa nekodhi iri chikamu chedzidziso. Vhurazve yako Arduino IDE uye isu tinokuvimbisa kuti iwe uchadzidza zvakawanda kana iwe wawana nzwisiso yakadzika yekodhi.

Ndokumbira ubvise iyo Sensor bhodhi kubva kuArduino UNO bhodhi uye bvisa 18650 simba bhokisi rinopihwa kuti uchinje kodhi yako. Zvikasadaro, zvinogona kukonzeresa kukuvara kusingagadzirisike kuRobot yako nePC sezvo ichikwanisa kutyaira yakakura iripo kuburikidza neako USB chiteshi.

Iyi kit inongova pekutanga uye inogona kuwedzerwa kuisa mamwe ma sensors nema module. Unogumira nekufunga kwako.

TA0262 Arduino Robhoti ARM 4 DOF Mechanical Claw Kit Chinyorwa - Dhaunirodha [yakagadziridzwa]
TA0262 Arduino Robhoti ARM 4 DOF Mechanical Claw Kit Chinyorwa - Download

References

• User Manual