Cov txheej txheem:

Quadruped Spider Robot - GC_MK1: 8 Cov Kauj Ruam (nrog Duab)
Quadruped Spider Robot - GC_MK1: 8 Cov Kauj Ruam (nrog Duab)

Video: Quadruped Spider Robot - GC_MK1: 8 Cov Kauj Ruam (nrog Duab)

Video: Quadruped Spider Robot - GC_MK1: 8 Cov Kauj Ruam (nrog Duab)
Video: How to make Quadruped Spider Robot (using Arduino and 3D parts) 2024, Kaum ib hlis
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Quadruped Spider Robot - GC_MK1
Quadruped Spider Robot - GC_MK1

Neeg hlau kab laug sab aka GC_MK1 txav mus rau tom ntej thiab thim rov qab thiab tseem tuaj yeem ua las voos nyob ntawm tus lej nkag ntawm Arduino. Neeg hlau siv 12 micro servo motors (SG90); 3 rau txhua ceg. Tus tswj siv los tswj cov servo motors yog Arduino Nano. Peb kuj siv lub roj teeb 12V uas tau nqis mus rau 5V los ntawm kev siv DC-DC hloov pauv, thiab tom qab ntawd pub rau VIN tus pin kom muaj zog rau Arduino thiab servo motors ib yam. Txhua ntu rau lub cev ntawm tus neeg hlau tau luam tawm 3D.

Kauj Ruam 1: Cov Lus Qhia Tseem Ceeb

Servo Tsav:

  • Servo motors feem ntau siv tig thiab thawb lossis rub cov khoom nrog qhov ua tau zoo.
  • Ib lub cav servo tau tsim los ntawm DC lub cav me me thiab ob peb lub zog uas ua rau lub siab ceev ntawm lub cav thiab ua rau nws qeeb thaum nce lub zog ntawm cov zis tawm hauv qhov kev pabcuam.
  • Kev ua haujlwm hnyav yuav tsum muaj lub zog ntau dua (Cov iav hlau tau siv hauv cov cav servo los tsim lub zog ntau dua thaum cov yas rau lub zog tsawg dua).
  • Kuj tseem muaj qhov ntsuas qhov ntsuas ntawm ib qho ntawm lub zog ntawm lub cav uas txuas nrog rau lub rooj sib tham me me. Qhov pawg thawj coj saib xyuas vaj huam sib luag txiav txim siab lub teeb liab los txiav txim siab deb npaum li cas lub servo xav tau los tig nyob ntawm lub teeb liab los ntawm tus neeg siv. Tom qab ntawd, nws sib piv txoj haujlwm uas xav tau rau txoj haujlwm tiag tiag thiab txiav txim siab seb yuav tig mus rau qhov twg.
  • Pulse Width Modulation (PWM) yog siv los tswj txoj haujlwm servo motor. Servo motors tau qhib thaum lawv tau txais lub teeb liab tswj (mem tes). Lub plawv dhia yog qhov hloov pauv los ntawm qhov hluav taws xob qis mus rau qhov hluav taws xob siab, feem ntau, cov mem tes nyob qis qis rau qee lub sijhawm.
  • Servo motors zoo li ua haujlwm ntau ntawm 4.5 txog 6 volts thiab lub plawv dhia qhia txog li 50 txog 60 Hz.
  • 50HZ = 1/20ms >> PWM = 20ms

Hom Servo Tsav

  1. Positional Rotation Servo >> Tig txog 180 degrees/ib nrab lub voj voog.
  2. Kev Sib Txuas Txuas Txuas Ntxiv >> Hloov mus rau ib qho kev taw qhia yam tsis muaj hnub kawg.
  3. Tawm Tawm Servo >> Muaj cov txheej txheem ntxiv (khib thiab pinion) txav mus rau qhov rov qab thiab tawm mus yam tsis hloov pauv.

Kauj Ruam 2: Cheeb Tsam:

Image
Image

1x Arduino Nano Microcontroller:

12x SG90 Servo Tsav

1x Mini daim ntawv qhia zaub mov:

/los yog /

1x PCB Board Prototype:

1x 12V Roj teeb: (Nov yog qhov kuv siv, koj tuaj yeem siv lub roj teeb sib txawv ib yam nkaus)

F rau F Jumpers thiab M rau M Jumpers:

1x DC rau DC Boost Converter

Kauj Ruam 3: Luam Ntawv 3D

3D Luam Cov Ntawv
3D Luam Cov Ntawv

Upper Part Robot Kab laug sab Lub Cev (Sab laug) || Sab Qaum Neeg Hlau Kab laug sab Lub Cev (Txoj Cai)

Kuv siv Fusion 360 thiab kuv Prusa i3 MK3 los luam tawm txhua feem rau kab laug sab neeg hlau. Kuv hloov lub txaj kom haum kuv lub roj teeb, tab sis kuv suav tsis txheeb qhov ntev, yog li kuv yuav tsum tuav lub roj teeb kuv tus kheej rau qhov ua piv txwv. Twb tau ua haujlwm ntawm GC_MK2!

Yog tias koj tsis xav tau lub txaj loj dua lossis lwm yam kev hloov pauv, koj tuaj yeem siv cov ntaub ntawv tam sim no hauv yam tsis zoo (txuas hauv qab no).

Thingverse Parts rau Spider Robot

STL cov ntaub ntawv rau hloov kho lub cev ntawm kab laug sab neeg hlau (Dav rau roj teeb loj dua)

Kauj Ruam 4: Cov Kab Xaim

Cov kab hluav taws xob
Cov kab hluav taws xob
Cov kab hluav taws xob
Cov kab hluav taws xob

Kauj Ruam 5: Yuav Tsim Li Cas

Image
Image

Kauj Ruam 6: Cov Duab Pab Tau

Cov Duab Pab Tau
Cov Duab Pab Tau
Cov Duab Pab Tau
Cov Duab Pab Tau
Cov Duab Pab Tau
Cov Duab Pab Tau

Kauj Ruam 7: Arduino Code

Txhawm rau kom tau txais txhua lub cav servo mus rau tib txoj haujlwm thawj zaug, koj yuav tsum tau xa cov duab kos ntawm ob txhais ceg (Legs.ino) ua ntej.

Tom qab koj ua tiav cov theem saum toj no, koj tuaj yeem ntxiv cov ntsia hlau (zip txuas ua haujlwm ib yam nkaus) rau servo lub cev muaj zog caj npab thiab zawm lawv.

Rub tawm thiab nruab FlexiTimer2 lub tsev qiv ntawv ua ntej rub tawm qhov program 1 thiab 2 kos duab.

Tsev qiv ntawv FlexiTimer2

Tam sim no koj npaj txhij xa Program1.ino lossis Program2.ino los khiav ntawm Arduino.

Legs.ino

// Nrhiav thawj txoj haujlwm ntawm txhais ceg

// RegisHsu 2015-09-09

#suav nrog

Servo tsav [4] [3];

// txhais cov chaw nres nkoj servos

const int servo_pin [4] [3] = {{2, 3, 4}, {5, 6, 7}, {8, 9, 10}, {11, 12, 13}};

void teeb tsa ()

{// initialize txhua servos rau (int i = 0; i <4; i ++) {for (int j = 0; j <3; j ++) {servo [j].attach (servo_pin [j]); ncua (20); }}}

void voj (tsis muaj dab tsi)

{rau (int i = 0; i <4; i ++) {rau (int j = 0; j <3; j ++) {servo [j].write (90); ncua (20); }}}

Lwm qhov ob daim duab Arduino yog txoj hauv kev ntev dhau los tshaj tawm ntawm no.

Txheeb xyuas qhov txuas hauv qab no.

Google tsav nplaub tshev txuas nrog txhua cov ntaub ntawv. (Xws li Arduino sketch files and flexitimer2 library)

Kab laug sab Robot Cov Ntaub Ntawv

Tso nyiaj rau RegisHsu rau Arduino cov duab kos.

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