GorillaBot the 3D Printed Arduino Autonomous Sprint Quadruped Robot: 9 Kauj Ruam (nrog Duab)

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:25

Txhua xyoo hauv Toulouse (Fabkis) muaj Toulouse Robot Race #TRR2021

Cov kev sib tw suav nrog 10 meter kev sib tw khiav nrawm rau cov neeg hlau uas muaj plaub thiab plaub npaug.

Cov ntaub ntawv tam sim no kuv sau ua plaub npaug yog 42 vib nas this rau kev sib tw 10 meter.

Yog li nrog qhov ntawd hauv siab kuv yuav tsum los nrog txoj phiaj xwm tsim tus neeg hlau uas kuv xav tias tuaj yeem kov yeej qhov ntawd txhawm rau dhau los ua tus yeej tus yeej tshiab !!!

Nrhiav me ntsis kev tshoov siab los ntawm cov koom nrog Cov Tswv Qhia "jegatheesan.soundarapandian" thiab xyoo tas los tus yeej ntawm Toulouse Robot Race "Oracid 1" uas ob qho tib si zoo li nyiam tsim thiab sib qhia qhia yuav ua li cas tsim plaub npaug. Kuv tau pib ntawm qhov pib theej tawm qhov tsim thiab ua rau nws loj dua me ntsis!

Kev tsim qauv yog ua raws tsib txoj kab sib txuas sib txuas rau txhua ceg 2 servos zog txhua ceg rau tag nrho ntawm 8 servos.

Cov cai hais tias sib nrug los ntawm qhov pib teeb liab tag nrho cov haiv neeg yuav tsum tau ua los ntawm cov neeg hlau tsis siv neeg yog li kuv yuav tsum tau los nrog lub teeb yuag system kom cov neeg hlau khiav ntawm qhov no kuv siv QMC5883L Magnetometer (digital compass) yog li nws tuaj yeem ua qhov tseeb rau nws txoj kev taw qhia, HC-SR04 Ultrasonic sensor yog tias tus neeg hlau ua rau lub cev tsis sib haum thiab pib tsoo phab ntsa ntawm 90 degree lub kaum ntse ntse thiab kuv tsuas yog siv tus lej ntsuas hauv cov cai los qhia nws pes tsawg kauj ruam nws yuav tsum ua rau 10 meters.

Yog tias koj txaus siab tsim lub neeg hlau no tsis txhob txhawj tus liab no tau txais txhua yam kev xav!

100% Txhawb nqa dawb 3D luam tawm Lub Cev:

Txhua yam sib nrug ntawm cov khoom siv hluav taws xob thiab cov ntsia hlau los txuas cov khoom siv hluav taws xob yog 3D luam tawm, tib lub taub hau me me ntsia hlau tsuas yog siv, txhua yam koj yuav xav tau yog lub taub hau me me ntswj ntswj kom sib sau ua ke neeg hlau

Yooj yim ntsaws thiab ua si hluav taws xob:

tsis muaj qhov nyuaj yuav tsum tau siv

Lub sijhawm tsim nyog tsim nyog:

Tej zaum nws yuav saib zoo nkauj thiab ntxim nyiam tab sis nws tsuas yog luam tawm 15 teev (ok lub sijhawm ntev rau qee qhov: D)

Tsim Nyog Tsim kom muaj qhov yuav tsum tau ua:

Nws tuaj yeem luam tawm ntawm lub tshuab luam ntawv me me uas xav tau kev tsim ntim tsuas yog L: 150mm x W: 150mm x H: 25mm

Tus nqi neeg hlau tag nrho:

Tus neeg hlau ib leeg tus nqi kwv yees li 75 $ los tsim lub charger

Yuav tsum muaj lub tshuab luam ntawv 3D (xaiv tau) yog tias koj xav tau teeb tsa tib yam li kuv muaj.

CEEB TOOM:

Lub zog 5V 3A uas kuv siv tsis yog qhov kev daws teeb meem zoo tshaj plaws rau tus neeg hlau no taug kev txhua 8 servos yuav tsum tau khiav ib txhij thiab yog li lawv kos ntau heev tam sim no tsis txhob txhawj Kuv tsis tau muaj tus neeg hlau tua hluav taws lossis ib yam dab tsi tab sis cia siab tias lub zog transistor kom sov me ntsis Kuv yuav tsis pom zoo siv tus neeg hlau ntau dua 2 feeb nyob rau ib lub sijhawm cia nws txias ntawm qhov khiav kom tsis txhob muaj kev puas tsuaj rau Servo ntaub thaiv npog.

Yog tias ib tus ntawm koj tau daws qhov teeb meem no koj cov lus tawm tswv yim yuav zoo siab heev!

Khoom siv

QHOV TSEEB RAU ROBOT:

• 8x Ntauwd Pro MG90S analog 180 deg servo (Aliexpress/Amazon)
• 1x Sunfounder Wireless Servo Control Board (Sunfounder Store/ RobotShop)
• 1x Arduino NANO (Aliexpress/Amazon)
• 1x NRF24L01 Transceiver Module (Koj tsis xav tau qhov no yog tias koj tsis siv tus tswj) (Aliexpress/Amazon)
• 1x Magnetometer (digital compass) QMC5883L GY-273 (Aliexpress/Amazon)
• 1x Ultrasonic sensor HC-SR04 (Aliexpress/Amazon)
• 2x 18650 3.7V Li-ion roj teeb (Aliexpress/Amazon)
• 1x 18650 ob lub roj teeb nrog rau ntawm qhov hloov pauv (Aliexpress/Amazon)
• 1x 18650 Li-ion Roj teeb charger (Aliexpress/Amazon)
• 4x poj niam rau poj niam dupont jumper cables 10 cm ntev (Aliexpress/Amazon)
• 4x poj niam rau poj niam dupont jumper cables 20 cm ntev (Aliexpress/Amazon)
• 10x Screws 2mm x 8mm (tib yam li cov ntsia hlau hauv pob ntawm servos) (Aliexpress/Amazon)

Tswj:

Txhawm rau tswj tus Neeg Hlau no tus kheej koj yuav xav tau 3D luam tawm Arduino Controller (txuas ntawm no)

Tus Neeg Hlau kuj tseem tuaj yeem ua tus kheej kom zoo li tus tswj hwm tsis tas yuav tsum tau ua.

Yas:

Cov khoom tuaj yeem luam tawm hauv PLA lossis PETG lossis ABS.

!! Thov nco ntsoov 500g spool ntau tshaj li txaus los sau 1 Robot !!

3D tshuab luam ntawv:

Yam tsawg kawg tsim lub platform xav tau: L150mm x W150mm x H25mm

Txhua lub tshuab luam ntawv 3d yuav ua. Kuv tus kheej luam tawm ntu ntawm Creality Ender 3 uas yog tus nqi qis 3D tshuab luam ntawv qis dua 200 $ Cov ntawv luam tawm tau zoo kawg nkaus.

Kauj Ruam 1: Luam Ntawv 3D

Yog li tam sim no nws yog lub sijhawm rau Luam Ntawv… Yog!

Kuv ua tib zoo tsim txhua ntu kom raug luam tawm 3D yam tsis muaj cov ntaub ntawv txhawb nqa xav tau thaum luam ntawv.

Txhua ntu muaj rau rub tawm ntawm yam khoom sib txawv (txuas ntawm no)

Txhua ntu tau raug kuaj luam tawm ntawm Creality Ender 3

• Khoom siv: PETG
• Txheej siab: 0.3 hli
• Tus nqi: 15%
• Nozzle txoj kab uas hla: 0.4mm

Daim ntawv teev npe yog raws li hauv qab no:

• 1x BASE ELECTRONICS
• 1 X BASE BACK
• 1x BASE FRONT
• 8x CIRCULAR PIN L1
• 4x CIRCULAR PIN L2
• 4x CIRCULAR PIN L3
• 4x CIRCULAR PIN L4
• 8x TSO SERVO
• 8 x TUG
• 8 x CALF EXT
• 8 x CALF INT
• 8x FOOB
• 4x SQUARE CLIP
• 44x CIRCULAR CLIP

Cov ntaub ntawv muaj nyob ua ib feem thiab pab pawg.

Txhawm rau luam tawm yooj yim luam tawm txhua daim GROUP.stl ib zaug.

Kauj Ruam 2: Sib dhos GorillaBot Lub Cev

Txhua daim ntawv qhia kev sib dhos tau piav qhia hauv cov vis dis aus sib dhos saum toj no:

1. Muab tus CIRCULAR PIN L1 tso rau hauv lub qhov BASE FRONT Pem hauv ntej sab laug tus tuav tuav
2. Pub cov hlua ntawm ib qho ntawm MG90S servos los ntawm qhov qhib hauv BASE FRONT Pem hauv ntej sab laug tus neeg pabcuam pabcuam
3. Muab lub MG90S servo tso rau hauv qhov chaw
4. Ruaj ntseg MG90S servo nyob rau hauv qhov chaw nrog 2 tus ntsia hlau (tsis txhob nrawm dua vim qhov no tuaj yeem ua rau puas tsuaj)
5. Rov ua cov txheej txheem qub rau BASE FRONT rov qab sab laug, pem hauv ntej sab xis thiab sab xis txoj cai tuav tuav
6. Rov ua cov txheej txheem qub rau BASE BACK pem hauv ntej sab laug, sab laug sab laug, pem hauv ntej sab xis thiab sab nraub qaum txoj cai tuav tuav
7. Ruaj ntseg lub roj teeb tuav rau BASE ELECTRONICS nrog 2 tus kab pheeb ces kaum lossis 4 tus ntsia hlau
8. Ruaj Ntseg Wireless Servo Control Board rau BASE ELECTRONICS nrog 2 tus kab pheeb ces kaum lossis 4 tus ntsia hlau
9. Clip Arduino nano thiab NRF24L01 transceiver mus rau Wireless Servo Control Board
10. Xaub BASE FRONT rau ntawm BASE ELECTRONICS los ntawm 2 lub qhov square USB chaw nres nkoj tig rov qab
11. Ruaj ntseg hauv qhov chaw nrog 2 SQUARE CLIPS
12. Xaub BASE BACK rau ntawm BASE ELECTRONICS los ntawm 2 lub qhov square USB chaw nres nkoj tig rov qab
13. Ruaj ntseg hauv qhov chaw nrog 2 SQUARE CLIPS
14. Ruaj ntseg Magnetometer rau BASE FRONT nrog 2 tus ntsia hlau
15. Clip lub Ultrasonic sensor rau ntawm BASE FRONT
16. Qhia cov servo cables mus rau Wireless Servo Control Board raws li qhia

Kauj Ruam 3: Plugging hauv Electronics

Txhua qhov kev sib txuas tau piav qhia hauv Duab saum toj no:

1. Plug 4 20cm dupont cables rau hauv lub wireless servo tswj cov laug cam Ultrasonic pins
2. Txuas lwm qhov kawg ntawm 4 kab txuas rau hauv Ultrasonic sensor (Nco ntsoov tias lawv yog txoj hauv kev ib puag ncig)
3. Plug 4 10cm dupont cables rau hauv lub wireless servo tswj cov laug cam Magnetometer pins
4. Txuas lwm qhov kawg ntawm 4 kab txuas rau Magnetometer (Nco ntsoov tias lawv yog txoj hauv kev ib puag ncig)
5. Txuas tag nrho cov servos rau hauv lawv cov nplooj siab rau hauv lub wireless servo tswj lub rooj tsavxwm
6. Ntsia lub roj teeb VIN thiab GND xov hlau mus rau lub wireless servo tswj lub rooj tswj hwm kom raug qhov tseeb

Kauj Ruam 4: Sib dhos GorillaBot's Ob txhais ceg

Txhua qhov kev sib sau ua ke tau piav qhia hauv video sib dhos saum toj no:

1. Xaub 1 FOOT hla 1 CIRCULAR PIN L4
2. Xaub qhov kawg ntawm 1 CALF EXT hla tus CIRCULAR PIN L4 nrog rau sab sab tig mus deb ntawm ko taw
3. Xaub 2 CALF INT hla tus CIRCULAR PIN L4
4. Xaub qhov tuab kawg ntawm 1 CALF EXT hla tus CIRCULAR PIN L4 nrog rau sab sab tig mus rau taw
5. Xaub 1 FOOT hla tus CIRCULAR PIN L4
6. Ruaj ntseg nyob rau hauv qhov chaw nrog 3 CIRCULAR CLIPS
7. Xaub 1 CIRCULAR PIN L3 mus txog 1 ntawm qhov sib dhos CALF EXT
8. Xaub 1 THIGH SERVO hla tus CIRCULAR PIN L3 nrog sab sab sab tig mus rau CALF EXT
9. Xaub 1 THIGH hla tus CIRCULAR PIN L3
10. Xaub tus CIRCULAR PIN L3 los ntawm lwm qhov sib dhos CALF EXT
11. Ruaj ntseg nyob rau hauv qhov chaw nrog 3 CIRCULAR CLIPS
12. Xaub 1 THIGH SERVO hla 1 CIRCULAR PIN L2 nrog rau sab sab tig mus rau CIRCULAR PIN L2 lub taub hau
13. Xaub tus CIRCULAR PIN L2 los ntawm ob qho kev sib sau ua ke CALF INTS
14. Xaub 1 THIGH dhau ntawm CIRCULAR PIN L2
15. Ruaj ntseg nyob rau hauv qhov chaw nrog 3 CIRCULAR CLIPS
16. Rov ua dua txhua txoj hauv kev rau 3 ceg ntxiv uas tsis nco qab tias thaum cov ceg tau sib sau ua ke rau cov neeg hlau lub taub hau taub hau sab nrauv thiab CALF EXTS nyob ntawm xub ntiag ntawm CALF INTS yog li sib dhos yuav zoo ib yam rau pem hauv ntej mus rau sab tom qab tab sis sib npaug ntawm sab laug mus rau sab xis.

Kauj Ruam 5: Txhim Kho Arduino

GorillaBot siv C ++ programming txhawm rau ua haujlwm. Txhawm rau rub cov program rau GorillaBot peb yuav siv Arduino IDE nrog rau ob peb lwm lub tsev qiv ntawv uas yuav tsum tau teeb tsa hauv Arduino IDE.

Nruab Arduino IDE rau koj lub computer: Arduino IDE (txuas ntawm no)

Txhawm rau teeb tsa lub tsev qiv ntawv hauv Arduino IDE koj yuav tsum ua cov hauv qab no nrog txhua lub tsev qiv ntawv hauv cov kab ntawv txuas hauv qab no

1. Nyem rau kab ntawv txuas hauv qab no (qhov no yuav coj koj mus rau lub tsev qiv ntawv GitHub nplooj ntawv)
2. Nyem rau lub pob ntsuab uas hais tias Code
3. Nyem download ZIP (rub tawm yuav tsum pib hauv koj lub vev xaib)
4. Qhib cov ntawv rub tawm lub tsev qiv ntawv
5. Unzip cov ntawv tais ceev tseg uas rub tawm
6. Luam lub unzipped tsev qiv ntawv nplaub tshev
7. Muab tshuaj txhuam lub tsev qiv ntawv unzipped rau hauv Arduino lub tsev qiv ntawv tais ceev tseg (C: / Documents / Arduino / libraries)

Tsev qiv ntawv:

• Varspeedservo tsev qiv ntawv (txuas ntawm no)
• QMC5883L lub tsev qiv ntawv (txuas ntawm no)
• Tsev qiv ntawv RF24 (txuas ntawm no)

Thiab nyob ntawd peb muaj nws koj yuav tsum npaj txhua yam kom mus kom ntseeg tau tias koj tau teeb tsa Arduino IDE kom raug raws li cov theem hauv qab no

1. Rub tawm qhov xav tau Arduino Code hauv qab no (GorillaBot Controller & Autonomous.ino)
2. Qhib nws hauv Arduino IDE
3. Xaiv Cov Cuab Yeej:
4. Xaiv Pawg Thawj Coj:
5. Xaiv Arduino Nano
6. Xaiv Cov Cuab Yeej:
7. Xaiv Tus Txheej Txheem:
8. Xaiv ATmega328p lossis ATmega328p (qub bootloader) nyob ntawm seb Arduino nano koj yuav
9. Nyem rau khawm Txheeb Xyuas (Tick khawm) nyob rau sab laug sab saud ntawm Arduino IDE

Yog tias txhua yam mus zoo koj yuav tsum tau txais cov lus hauv qab uas hais tias Ua tiav kev suav sau.

Kauj Ruam 6: Tshaj Tawm Txoj Cai

Tam sim no nws yog lub sijhawm los tso cov cai rau GorillaBot lub hlwb Arduino Nano.

1. Txuas lub Arduino Nano rau hauv koj lub computer ntawm USB cable
2. Nyem rau khawm upload (Txoj cai xub khawm)

Yog tias txhua yam mus tau zoo koj yuav tsum tau txais cov lus hauv qab uas hais tias Ua tiav Kev Tso Tawm.

Kauj Ruam 7: Calibrating Servos

Txhawm rau sib sau ua ke ob txhais ceg kom raug peb yuav tsum tau tsev cov neeg ua haujlwm rau lawv txoj haujlwm hauv tsev.

1. Ntxig 2 Li-ion Roj teeb rau hauv lub roj teeb
2. Hloov tus neeg hlau thiab tos 5 vib nas this rau cov servos kom mus txog lawv txoj haujlwm hauv tsev
3. Hloov tus neeg hlau tawm

Kauj Ruam 8: Sib dhos Ob txhais ceg rau Lub Cev

Kev txuas ob txhais ceg rau servos yog qhov yooj yim zoo nkauj yooj yim nco ntsoov tias CALF EXT yuav tsum tau muab tso rau pem hauv ntej ntawm CALF INT thaum lub rooj sib dhos tus pin lub taub hau tig mus rau sab nraud.

1. Xaub qhov THIGH ntawm CALF EXT sab ntawm ib ntawm ob txhais ceg hla CIRCULAR PIN L1 ntawm lub hauv ntej pem hauv ntej sab laug servo tuav
2. Ruaj ntseg hauv qhov chaw nrog 1 CIRCULAR CLIP
3. Xaub THIGH SERVO ntawm CALF EXT ib sab ntawm tib ceg hla lub taub hau servo ntawm sab xub ntiag sab laug tus neeg pabcuam servo (Nco ntsoov tias THIGH SERVO nyob ntawm 90 degree lub kaum sab xis rau lub cev)
4. Ruaj ntseg THIGH SERVO nyob rau ntawm qhov 90 degree lub kaum sab xis rau lub cev nrog ib sab caj npab servo horn thiab cov ntsia hlau me me
5. Rov ua cov txheej txheem qub rau sab pem hauv ntej sab laug tus tuav tuav nrog qhov seem THIGH thiab THIGH SERVO ntawm ceg ntawd
6. Rov ua dua txhua cov txheej txheem yav dhau los rau 3 ceg ntxiv

Kauj Ruam 9: Npaj Rau Kev Sib Tw !

Yog li ntawd nws yog koj yuav tsum npaj txhua yam mus !!!

Phau ntawv hom:

• Hloov tus neeg hlau thiab tus tswj hwm thiab txheeb xyuas tias tus neeg hlau taug kev kom raug los ntawm kev siv nqes nqes los sab laug thiab sab xis ntawm Joystick.
• Nias lub pob nyem thiab tus neeg hlau yuav tsum ua las voos me ntsis

Yog tias txhua yam ua haujlwm tau zoo cov servos tau ntsuas zoo thiab koj tam sim no tuaj yeem sim tawm hom kev ywj pheej.

Hom kev ywj pheej

Hom kev siv tus kheej Sprint siv tus Magnetometer kom cov neeg hlau khiav mus tas li rau 2.5 meters. Koj tuaj yeem teeb tsa txoj haujlwm xav tau thiab xav tau lub kaum ntse ntse ntawm kev kho siv tus tswj

1. Hloov tus neeg hlau thiab tus tswj hwm
2. Tsiv tus neeg hlau mus rau txhua qhov kev taw qhia kom ntsuas lub Magnetometer rau 5 vib nas this
3. Muab tus neeg hlau tso rau hauv av hauv txoj haujlwm uas koj xav kom nws nkag mus
4. Nias lub pob kom nce los cim lub npe ntawd
5. Tig tus neeg hlau 30-45 degrees rau sab laug ntawm qhov xav tau
6. Nias lub khawm sab laug kom cim txoj haujlwm ntawd
7. Tig tus neeg hlau 30-45 degrees rau sab xis ntawm kab lus uas xav tau
8. Nias lub khawm sab xis kom nco txoj haujlwm ntawd
9. Muab tus neeg hlau rov qab rau nws qhov nws xav tau
10. Nias lub joystick khawm kom pib tus neeg hlau

Tus neeg hlau yuav khiav hauv qhov taw qhia tsis tu ncua rau 2.5 meters tom qab ntawd nres zaum thiab ua las voos yeej.

Kuv tus neeg hlau tswj kom ua 2.5 meters hauv 7.5 vib nas this.

Uas muab sijhawm rau kuv txog 10 metres hauv 30 vib nas this uas cia siab tias yuav txaus los muab sijhawm rau kuv ntawm Toulouse Robot Race

Cia siab tias kuv muaj hmoo thiab rau cov ntawm koj uas txiav txim siab tsim tus neeg hlau no Kuv yuav nyiam hnov koj cov lus tawm tswv yim thiab kev txhim kho uas koj xav tias tuaj yeem ua tau !!!

Khiav Tawm Hauv Kev Sib Tw Robots