Cov txheej txheem:

Rotary Encoder Controlled Robot Arm: 6 Kauj Ruam
Rotary Encoder Controlled Robot Arm: 6 Kauj Ruam

Video: Rotary Encoder Controlled Robot Arm: 6 Kauj Ruam

Video: Rotary Encoder Controlled Robot Arm: 6 Kauj Ruam
Video: Increasing the Precision of a 6 Axis Robot Arm 2024, Kaum ib hlis
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Rotary Encoder Controlled Robot Arm
Rotary Encoder Controlled Robot Arm
Rotary Encoder Controlled Robot Arm
Rotary Encoder Controlled Robot Arm

Kuv tau mus ntsib howtomechatronics.com thiab pom bluetooth tswj cov neeg hlau caj npab nyob ntawd.

Kuv tsis nyiam siv bluetooth, ntxiv rau kuv pom peb tuaj yeem tswj cov servo nrog tus lej nkag teb chaws, yog li kuv rov txhim kho nws tias kuv tuaj yeem tswj hwm cov neeg hlau caj npab siv lub cav nkag teb chaws thiab sau nws

Khoom siv

SG90*3

MG996*3

teb encoder*6

Arduino mega *1

2 tus pin khawm*2

560 ohm resistor*2

M3 screws thiab ceev

3D tshuab luam ntawv

Kauj ruam 1: Txuas Servos

Txuas cov Servos
Txuas cov Servos

Los ntawm sab laug mus rau sab xis: lub hauv paus servo (MG996), qis duav servo (MG996), lub luj tshib servo (MG996), qis tes servo (SG90), nruab nrab tes servo (SG90), tuav servo (SG90)

Peb yuav tsum tsis txhob xaim Arduino's 5V rau sab nraud 5V (uas yog tus tiv thaiv sib txuas thiab lawv yuav sim them ib leeg), tsis muaj txoj hauv kev rov qab los rau tam sim no los ntawm koj lub xov tooj liab (daj hlau), yog li sab nraud lub zog hauv av yuav tsum xaim rau ob qho tib si servo tus pin thiab Arduino tus pin hauv av. (Thaum cov xim dub thiab liab yog cov khoom siv hluav taws xob ywj pheej)

Nco tseg ntawm no kuv sib cais daim duab sib txuas rau servo, thawb khawm thiab lub cav nkag teb chaws vim nws yooj yim nyeem cais (lawv txhua tus txuas rau ib qho Arduino Mega siv tus pin ntawm txhua daim duab)

Kauj Ruam 2: Txuas Lub Laub Khawm

Txuas lub Push Button
Txuas lub Push Button

Ib sab laug yog pib dua khawm

Khawm ua si yog txoj cai

Lub pob ua si yuav ua si cov suab kaw tseg

Tus tiv thaiv kuv siv yog ob 560 ohm

Kauj Ruam 3: Txuas lub Encoders Teb

Txuas cov Rotary Encoders
Txuas cov Rotary Encoders

Kev sib txuas pins:

// Teb Encoder 1 Cov tswv yim

#define CLK1 53 #define DT1 51 #define SW1 49

// Teb Encoder 2 Cov tswv yim

#define CLK2 45 #define DT2 43 #define SW2 41

// Teb Encoder 3 Cov tswv yim

#define CLK3 50 #define DT3 48 #define SW3 46

// Teb Encoder 4 Cov tswv yim

#define CLK4 42 #define DT4 40 #define SW4 38

// Teb Encoder 5 Cov Tswv Yim

#define CLK5 34 #define DT5 32 #define SW5 30

// Rotary Encoder 6 Cov tswv yim zoo tshaj plaws

#define CLK6 26 // 26 #define DT6 24 // 24 #define SW6 22 // 22

Kauj Ruam 4: Cov Ntaub Ntawv STL

Cov ntaub ntawv STL
Cov ntaub ntawv STL

STL cov ntaub ntawv credit howtomechatronics.com

Kauj ruam 5: Txoj Cai

Cov kauj ruam:

Nias pib dua (rov pib ua si)

Rau servo tshwj tsis yog tuav servo: tig cov encoder teb ntawm txhua qhov servo-nias lub encoder (kaw qhov chaw pib) rau txhua servo zoo li tig encoder 1-nias tig encoder 1-tig encoder 2-nias tig encoder 2

Tom qab peb sau cov haujlwm pib, peb tuaj yeem ua tib yam los sau qhov kawg txoj haujlwm

Rau laub servo: (nrog rau lwm qhov servo) nias lub encoder (kaw kaw qhib) (tom qab peb kaw qhov pib ntawm lwm qhov kev pabcuam thiab lawv nyob ntawm txoj haujlwm ntawd) tig-nias dua (kaw kaw kom ntes tau qee yam) (tom qab peb kaw qhov kawg ntawm lwm qhov kev pabcuam thiab lawv nyob ntawm txoj haujlwm ntawd) tig- nias lub encoder (kaw qhib qhib kom tso tawm cov khoom)

nias pib khawm (servos yuav tig pib thaum pib txoj haujlwm, kom xaus txoj haujlwm) // yog tias xav rov ua cov txheej txheem, xav tau nias pib khawm ntau zaus

khawm ua si yog qhov yog

Pom zoo: