Afordable PS2 Tswj Arduino Nano 18 DOF Hexapod: 13 Cov Kauj Ruam (nrog Duab)

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

Yooj Yim Hexapod Neeg Hlau siv arduino + SSC32 servo controller thiab Wireless tswj siv PS2 joystick. Lynxmotion servo maub los muaj ntau qhov tshwj xeeb uas tuaj yeem muab cov lus pom zoo rau kev ua raws kab laug sab.

lub tswv yim yog ua kom tus neeg hlau hexapod uas yooj yim rau sib sau ua ke thiab muaj nqis nrog ntau tus yam ntxwv thiab txav tau yooj yim.

Cov khoom kuv xaiv yuav me me txaus kom haum rau hauv lub cev loj thiab lub teeb txaus rau MG90S servo tuaj yeem nqa …

Kauj Ruam 1: Cov khoom siv

Txhua qhov hluav taws xob ingridians yog:

1. Arduino Nano (Qty = 1) lossis koj tuaj yeem siv lwm Arduino tab sis qhov no yog chav suite rau kuv
2. SSC 32 channel servo controller (Qty = 1) lossis cov phooj ywg zoo SSC-32 clone
3. MG90S Tower Pro hlau iav servo (Qty = 18)
4. Poj niam rau femala dupont cable jumper (Qty = raws li xav tau)
5. Tus Kheej Tus Kheej Laub khawm Hloov (Qty = 1)
6. 5v 8A -12A UBEC (Qty = 1)
7. 5v 3A FPV Micro UBEC (Qty = 1)
8. PS2 2.4Ghz Wireless Controller (Qty = 1) nws tsuas yog siv PS2 wireless xws li + cable txuas ntxiv
9. 2S lipo roj teeb 2500mah 25c (Qty = 1) feem ntau rau RC Helicopter Roj teeb zoo li Syma X8C X8W X8G nrog lub rooj tsav xwm tiv thaiv hluav taws xob
10. Roj teeb txuas (Qty = 1 khub) feem ntau zoo li JST txuas
11. AAA roj teeb (Qty = 2) rau PS2 maub los Transmitter
12. Lub suab nrov nrov (Qty = 1) rau kev tswj xyuas cov lus tawm tswv yim

Txhua qhov tsis siv hluav taws xob ingridians yog:

1. 3D tshuab luam ntawv hexapod thav duab (Qty = 6 coxa, 6 femur, 6 tibia, 1 lub cev hauv qab, 1 lub cev sab saum toj, 1 sab saum toj npog, 1 pawg tuav)
2. M2 6mm ntsia hlau (Qty = tsawg kawg 45) rau servo horn thiab lwm yam
3. M2 10mm ntsia hlau (Qty = tsawg kawg 4) rau sab saum toj
4. Cov hlua me me (raws li xav tau)

Cov cuab yeej koj xav tau:

1. SCC-32 Servo Sequencer Utility Apps
2. Arduino IDE Cov
3. Soldering hlau teeb
4. Ntsia Hlau

Tus nqi kwv yees kwv yees yog $ 150

Kauj Ruam 2: Bracket rau Kev Txhim Kho Hluav Taws Xob

Bracket tau siv rau kev teeb tsa yooj yim thiab ua rau txhua tus qauv dhau los ua ib chav, qhov no tsuas yog tus tuav yooj yim rau txhua lub rooj tsavxwm, koj tuaj yeem siv cov ntsia hlau lossis daim kab xev ob npaug rau txuas txhua lub rooj tsavxwm.

tom qab txhua qhov dhau los ua ib chav koj tuaj yeem muab nws tso rau hauv 3D luam tawm hauv qab lub cev siv M2 6mm ntsia hlau

Kauj Ruam 3: Kab Duab

Rau tus pin rau tus pin txuas koj tuaj yeem siv xim poj niam rau poj niam 10-20cm Dupont cable jumper yog txaus, thiab rau lub zog faib tawm tau zoo dua siv cov silicone me me AWG.

Lwm yam uas qhov no yog qhov uas yuav tsum tau ceeb toom …

1. Lub roj teeb: rau qhov hexapod kuv siv 2S lipo 2500mah nrog 25C nws txhais tau tias 25Amp txuas ntxiv mus nrog nruab nrab 4-5amp txhua qhov kev siv servo thiab 1-2amp txhua qhov kev siv logic board, nrog cov roj teeb no txaus kua txiv rau txhua qhov kev xav thiab kev tsav tsheb.
2. Ib lub zog siv hluav taws xob, ob qhov faib tawm: lub tswv yim yog cais cov logic board zog los ntawm servo zog txhawm rau tiv thaiv lub zog ruaj khov ntawm lub rooj tsav xwm logic, yog vim li cas kuv thiaj siv 2 BEC rau nws rau faib nws los ntawm tib lub zog siv. nrog 5v 8A - 12A max BEC rau servo zog thiab 5v 3A BEC rau logic board.
3. 3, 3v PS2 wireless joystick lub zog: them nyiaj mloog, lub chaw txais xov tooj cua no siv 3, 3v tsis yog 5v. Yog li siv tus pin 3, 3v los ntawm Arduino Nano los txhawb nws.
4. Lub hwj chim hloov: Siv tus kheej ntsuas phoo rau hloov nws ON lossis OFF

5. SSC-32 Pin teeb tsa:

   • VS1 = VS2 tus pin: ob tus pin yuav tsum kaw, nws txhais tau tias tag nrho 32 CH siv tib lub zog los ntawm nws los ntawm VS1 lub qhov hluav taws xob lossis VS2 lub qhov hluav taws xob
   • VL = VS tus pin: tus pin no yuav tsum qhib, nws txhais tau tias SCC-32 lub logic board lub hwj chim lub qhov hluav taws xob tau cais los ntawm servo zog (VS1/VS2)
   • TX RX tus pin: ob tus pin no yuav tsum qhib, tus pin no tsuas yog muaj nyob ntawm DB9 version SSC-32 thiab Clone version SSC-32. Thaum nws qhib txhais tau tias peb tsis siv DB9 chaw nres nkoj los sib txuas lus ntawm SSC-32 thiab arduino tab sis siv TX RX thiab GND tus pin
   • Baudrate tus pin: tus pin no yog ditermine SSC-32 TTL tus nqi nrawm. kuv siv 115200 yog li ob tus pin tau kaw. thiab yog tias koj xav hloov nws mus rau lwm tus nqi, tsis txhob hnov qab tseem hloov nws ntawm cov cai ib yam.

Kauj Ruam 4: Tshaj Tawm Txoj Cai rau Arduino Nano

Txuas koj lub khoos phis tawj mus rau arduino nano… ua ntej koj upload cov cai, nco ntsoov tias koj tau teeb tsa PS2X_lib thiab SoftwareSerial los ntawm kuv cov ntawv txuas rau arduino lub tsev qiv ntawv nplaub tshev.

Tom qab koj muaj txhua lub tsev qiv ntawv xav tau, koj tuaj yeem qhib MG90S_Phoenix.ino thiab xa nws …

PS: Txoj cai no twb tau ua kom zoo dua rau MG90S servo ntawm kuv tus ncej nkaus xwb … yog tias koj hloov lub thav duab siv lwm tus, koj yuav tsum rov teeb tsa nws dua …

Kauj Ruam 5: Cov Rooj Sib Tham (Tibia)

Rau tibia, tag nrho cov ntsia hlau yog los ntawm sab nraum tsis pem hauv ntej … ua tib yam rau tibia Tib …

PS: Tsis xav tau txuas lub cav servo, tshwj tsis yog rau tus tuav ib ntus xwb.. servo horn yuav muab txuas tom qab txhua qhov servo txuas rau SSC 32 board @ cov kauj ruam tom ntej

Kauj Ruam 6: Kev Sib Tham Ncej (Femur)

Ntxig lub pas dej ua ntej tshaj ntsaws lub taub hau servo mus rau tus tuav lub tog raj kheej … ua tib yam rau tus so femur …

PS: Tsis xav tau txuas lub cav servo, tshwj tsis yog rau tus tuav ib ntus xwb.. servo horn yuav muab txuas tom qab txhua qhov servo txuas rau SSC 32 board @ cov kauj ruam tom ntej

Kauj Ruam 7: Cov Rooj Sib Tham (Coxa)

Muab tag nrho coxa servo nrog lub taub hau iav txoj haujlwm zoo li daim duab saum toj no … txhua coxa ntsia hlau yog los ntawm sab nraub qaum ib yam li tibia …

PS: Tsis xav tau txuas lub cav servo, tshwj tsis yog rau tus tuav ib ntus xwb.. servo horn yuav muab txuas tom qab txhua qhov servo txuas rau SSC 32 board @ cov kauj ruam tom ntej

Kauj Ruam 8: Txuas lub Servo Cable

Tom qab txhua qhov kev pabcuam hauv qhov chaw, txuas txhua lub cable ib yam li daim duab saum toj no.

• RRT = Txoj Cai Rear Tibia
• RRF = Txoj Cai Rear Femur
• RRC = Txoj Cai Rear Coxa
• RMT = Tib Tibia Tibia
• RMF = Txoj Cai Nruab Nrab Femur
• RMC = Txoj Cai Nruab Nrab Coxa
• RFT = Sab Pem Hauv Ntej Tibia
• RFF = Txoj Cai Pem Hauv Ntej Femur
• RFC = Txoj Cai Pem Hauv Ntej Coxa
• LRT = Left Rear Tibia
• LRF = Sab Nraud Rear Femur
• LRC = Sab laug Tsheb Coxa
• LMT = Sab laug Tibia Tibia
• LMF = Sab laug Nruab Nrab Femur
• LMC = Sab laug Nruab Nrab Coxa
• LFT = Sab laug Sab Tibia
• LFF = Sab Pem Hauv Ntej Femur
• LFC = Sab laug Pem Hauv Ntej Coxa

Kauj Ruam 9: Txuas lub Servo Horn

Tom qab tag nrho cov kab txuas servo txuas, lub zog ntawm lub hexapod thiab nias "Pib" los ntawm PS2 cov chaw taws teeb thiab ruaj khov lub cav servo ib yam li daim duab saum toj no.

Tuav lub servo horn rau hauv qhov chaw tab sis tsis txhob ntsia nws thaum xub thawj. xyuas kom tseeb tias Tibia, Femur thiab Coxa lub kaum sab xis yog qhov tseeb … dua li koj tuaj yeem ntsia nws nrog cov ntsia hlau suav nrog + 1 M2 6mm ntsia hlau txuas rau ntawm lub suab raj mus rau femur thiab coxa.

Kauj Ruam 10: Tidy Up Cable

Tom qab txhua qhov kev pabcuam ua haujlwm tau zoo thiab ruaj khov nyob rau hauv qhov chaw, koj tuaj yeem ua kom zoo li lub servo cable.

Koj tuaj yeem tsuas yog sau nws thiab nthwv dej nws siv cov hlua khi lossis cov cua sov ntsws thiab koj tseem tuaj yeem txiav cov kab raws li koj xav tau … yog txog koj …

Kauj Ruam 11: Kaw Lub Npog

Tom qab Txhua yam zoo … koj tuaj yeem kaw nws siv lub cev sab saud + sab saum toj npog siv 4 x M2 10mm ntsia hlau … thiab koj tuaj yeem siv lub npog npog ua lub roj teeb rau koj 2S 2500mah 25c lipo …

Kauj ruam 12: Servo Calibration

Qee zaum tom qab ntsaws thiab tso koj lub suab servo, txhais ceg hexapod zoo li tseem tsis nyob hauv txoj haujlwm raug … Yog vim li cas koj thiaj xav tau ntsuas nws siv SSC-32 Servo Sequencer Utility.exe

Qhov haujlwm no rau txhua pawg SSC-32 (thawj lossis clone), tab sis ua ntej koj tuaj yeem siv nws plase ua raws cov theem no:

1. Kaw VL = VS tus pin nrog jumper
2. Tshem RX TX GND cable los ntawm SSC-32 rau Arduino nano
3. Txuas qhov RX TX GND cable no mus rau lub khoos phis tawj siv USB TTL hloov pauv
4. Fais fab neeg hlau
5. Xaiv qhov chaw nres nkoj raug thiab baudrate (115200)

Tom qab koj lub rooj tsav xwm pom, koj tuaj yeem nyem lub pob calibrate thiab kho txhua qhov kev pabcuam raws li koj xav tau

Kauj Ruam 13: Txaus Siab Rau Koj Tus Neeg Hlau …

Tom qab tag nrho, qhov no tsuas yog rau kev lom zem….

rau Demo nthuav qhia yuav ua li cas ua haujlwm tus neeg hlau no, koj tuaj yeem tshawb xyuas hauv kauj ruam 1 video. Lwm txoj hauv kev no yog kev tswj hwm tus neeg hlau.

Txaus siab rau nws … lossis koj kuj tuaj yeem faib nws …

• PS: Them koj lub roj teeb thaum mus txog tsawg dua 30% lossis nqes hluav taws xob 6, 2V … kom tiv thaiv roj teeb puas.
• yog tias koj thawb koj lub roj teeb ntau, feem ntau koj cov neeg hlau txav yuav zoo li vwm thiab tuaj yeem ua rau koj cov neeg hlau tsis zoo …