Taug Kev Strandbeest, Java/Python thiab App Tswj: 4 Cov Kauj Ruam (nrog Duab)

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:26

Los ntawm arrowlikeFollow Ntau los ntawm tus sau:

Cov khoom siv Strandbeest no yog DIY ua haujlwm raws li Strandbeest tau tsim los ntawm Theo Jansen. Kuv xav tsis thoob los ntawm kev tsim kho tshuab ntse, Kuv xav ua kom nws muaj peev xwm ua tiav tag nrho, thiab tom ntej no, khoos phis tawj txawj ntse. Hauv cov lus qhia no, peb ua haujlwm ntawm thawj ntu, kev ua haujlwm zoo. Peb kuj tseem npog cov txheej txheem khoos phis tawj rau lub khoos phis tawj loj, yog li peb tuaj yeem ua si nrog khoos phis tawj lub zeem muag thiab AI ua. Txhawm rau ua kom yooj yim kev ua haujlwm hauv tsev thiab sib npaug, Kuv tsis tau siv arduino lossis cov khoos phis tawj zoo sib xws, hloov pauv, Kuv tsim lub bluetooth hardware hardware controller. Tus tswj hwm no, ua haujlwm raws li lub davhlau ya nyob twg cuam tshuam nrog cov cuab yeej siv neeg hlau, raug tswj los ntawm cov txheej txheem muaj zog dua, xws li lub xov tooj Android app lossis RaspberryPi, thiab lwm yam. Ib SDK rau txhua hom lus programming yog qhib-qhov muab hauv

Txij li mini-Strandbeest cov neeg siv phau ntawv qhia meej meej hauv kev piav qhia cov theem tsev, hauv cov lus qhia no, peb yuav tsom mus rau cov ntaub ntawv uas tsis tau hais tseg hauv phau ntawv siv, thiab cov khoom siv hluav taws xob/hluav taws xob.

Yog tias peb xav tau lub tswv yim nkag siab ntau ntxiv ntawm cov cuab yeej sib dhos ntawm cov khoom siv no, muaj qee qhov yeeb yaj kiab zoo ntawm cov ncauj lus sib tham muaj, xws li

Khoom siv

Txhawm rau tsim cov tshuab ib feem thiab ua txhua qhov txuas hluav taws xob ntawm Strandbeest no, nws yuav tsum siv sijhawm tsawg dua 1 teev kom tiav yog tias tos lub sijhawm rau 3D luam tawm tsis suav. Nws xav tau cov hauv qab no:

(1) 1x txheej txheem Strandbeest cov khoom siv (https://webshop.strandbeest.com/ordis-parvus)

(2) 2x DC tsav nrog Gear Box (https://www.amazon.com/Greartisan-50RPM-Torque-Re…)

(3) 1x Bluetooth tswj (https://ebay.us/Ex61kC?cmpnId=5338273189)

(4) 1x LiPo Roj teeb (3.7V, koj xaiv lub peev xwm hauv mAh)

(5) 12x M2x5.6mm ntoo ntsia hlau

(6) 2 hli txoj kab uas hla Carbon lossis xyoob pas

3D luam tawm cov hauv qab no:

(1) 1x lub cev tseem ceeb neeg hlau

(3D luam tsim cov ntawv nrog bluetooth maub los tsuas yog rub tawm)

(3D luam tsim cov ntawv nrog ntxiv OrangePi Nano rub tawm)

(2) 2x Drive ncej flange (3D luam tsim cov ntawv rub tawm)

(3) 2x fais fab kev teeb tsa (3D luam tsim cov ntawv rub tawm)

Lwm tus:

Android xov tooj. Mus rau Google playstore, thov tshawb M2ROBOTS thiab teeb tsa kev tswj App.

Yog tias nws nyuaj rau nkag mus rau Google playstore, mus ntsib kuv tus kheej lub vev xaib rau lwm txoj hauv kev rub tawm app

Kauj Ruam 1: Qhov Chaw Koom Tes

Hauv cov kauj ruam no, peb yuav teeb tsa txhua ntu kom tau sib sau ua ke. Daim duab 1. qhia tag nrho cov khoom yas tawm ntawm lub thawv peb siv los tsim tus qauv Strandbeest. Lawv tau tsim los ntawm kev txhaj tshuaj moulding, uas yog qhov ua tau zoo heev, piv rau lwm txoj hauv kev ua haujlwm xws li luam ntawv 3D lossis milling. Tias yog vim li cas peb xav ua kom tau txais txiaj ntsig zoo tshaj plaws ntawm cov khoom lag luam tsim tawm, thiab tsuas yog kho qhov tsawg tshaj plaws ntawm cov khoom.

Raws li tau qhia hauv daim duab 2, txhua daim ntawv yas yas muaj daim ntawv lo cim npe, ib feem ntawm tus kheej tsis muaj daim ntawv lo. Thaum lawv tau sib cais, tsis muaj daim ntawv lo ntxiv lawm. Txhawm rau daws qhov teeb meem no, peb yuav tso ib feem ntawm tib hom rau hauv cov thawv sib txawv, lossis yooj yim kos ntau thaj tsam hauv ib daim ntawv thiab muab ib qho ntawm ib feem hauv ib cheeb tsam, saib Daim Duab 3.

Txhawm rau txiav ib feem yas tawm ntawm lub rooj sib dhos yas loj dua, txiab thiab riam yuav tsis zoo li thiab muaj kev nyab xeeb zoo li tus plier qhia hauv daim duab 4 thiab 5.

Txhua yam ntawm no yog ua los ntawm yas, tshwj tsis yog cov khoom siv ntawm cov ntiv taw yog roj hmab, saib Daim Duab 6. Peb tuaj yeem txiav raws li qhov txiav ua ntej. Qhov muag ntawm cov khoom siv roj hmab muab kev tuav tau zoo dua ntawm cov hlua. Nws yog qhov tseeb tshwj xeeb thaum nce toj nqes hav. Hauv cov ncauj lus tom qab, peb tuaj yeem sim nws lub peev xwm nce ntawm lub kaum ntse ntse sib txawv, nrog thiab tsis muaj ntiv taw roj hmab. Thaum tsis muaj qhov swb, nws hu ua kev sib txhuam zoo li qub. Thaum nws poob qhov tuav, nws dhau los ua kev sib txhuam. Qhov coefficient ntawm kev sib txhuam nyob ntawm cov ntaub ntawv siv, yog vim li cas peb thiaj li muaj cov ntiv taw roj hmab. Yuav tsim kev sim li cas, tsa koj txhais tes thiab hais lus tawm.

Daim duab kawg muaj "ECU", "Lub tsheb ciav hlau muaj zog", thiab chassis ntawm tus qauv Strandbeest.

Kauj Ruam 2: Cov Ntsiab Lus Tsim Nyog Ntawm Lub Caij Sib Ntsib

Mini-Strandbeest muaj phau ntawv qhia siv tau zoo. Nws yuav tsum yog txoj haujlwm yooj yim kom ua raws phau ntawv qhia thiab ua tiav kev sib dhos. Kuv yuav hla cov ntsiab lus no thiab hais txog ob peb lub ntsiab lus uas tsim nyog rau peb mloog.

Hauv daim duab 1, ib sab ntawm lub qhov tuav cov ntiv taw ntiv taw yog 90-deg kaum, hos lwm sab muaj 45-deg nqes hav, uas yog lub npe hu ua chamfer. Cov nqes hav no qhia cov ntiv taw roj hmab kom haum rau hauv cov yas yas. Sim nruab cov ntiv taw los ntawm sab nrog chamfer, saib daim duab 2, tom qab ntawd sim lwm sab. Qhov txawv yog qhov pom tau heev. Sab xis ntawm daim duab 3 yog lub crank hauv peb Stranbeest. Nws zoo ib yam li lub crank hauv lub cav, lub cav tsheb, lub cav maus taus, txhua tus sib koom ua ke. Hauv Strandbeest, thaum lub crank tig, nws ua rau taw txav mus. Rau lub cav, nws yog qhov txav ntawm piston tsav lub crank kom tig. Xws li 120-deg sib cais hauv lub voj voog tseem ua rau peb theem lub cev muaj zog lossis lub tshuab hluav taws xob, lub zog hluav taws xob yog 120-deg sib nrug, qhia hauv daim duab 4. Thaum peb muaj cov khoom siv rau sab laug thiab sab xis lub cev txhua qhov sib dhos, tam sim no peb pib ua haujlwm ntawm cov ntu peb ntxiv rau Strandbeest, saib daim duab 5. Daim duab 6 yog cov kauj ruam peb siv 3-D luam tawm lub tshuab clamp kom nrawm lub cav mus rau 3-D luam ntawv lub cev. Hauv cov kauj ruam no, qhov ua kom yuam kev yog tias tsis muaj cov ntsia hlau yuav tsum tau nruj ua ntej qhov chaw lub cev muaj zog tau hloov kho kom lub ntsej muag sab nrauv ntawm lub chassis zoo ib yam li lub ntsej muag lub cev muaj zog. Thaum peb txaus siab nrog kev sib dhos, peb tuaj yeem nruj txhua tus ntsia hlau. Tsiv mus rau daim duab 7, peb ua haujlwm ntawm kev teeb tsa ntawm flange txuas, txuas lub cev muaj zog rau lub crank. Lub cev muaj zog yog qhov nyuaj rau teeb tsa dua li qhov sib txuas ntawm sab crank, saib Daim Duab 8. Yog li peb txuas lub cav sab flange ua ntej. Thaum lub flange txuas rau ob lub cav tau teeb tsa, raws li tau qhia hauv daim duab 9, peb siv ob daim ntawm 2 hli txoj kab uas hla cov pa roj carbon txuas rau lub chassis thiab sab laug/sab xis taug kev qauv. Qhov ntawd tshwm sim hauv FIg.10. Hauv tag nrho, peb siv 3 daim ntawm cov pas nrig carbon los txuas cov chaw no. Tab sis hauv cov kauj ruam no, peb tsuas yog txuas ob ntawm cov no, vim tias peb xav tau tig lub crank thiab haum qhov sib txuas ntawm flange thiab crank. Yog tias 3 daim ntawm cov pa roj carbon tau nyob hauv qhov chaw, nws yuav nyuaj rau kho qhov chaw txheeb ze thiab txuas lawv. Thaum kawg, peb muaj qhov kawg sib sau ua ke cov tshuab, hauv daim duab 11. Cov kauj ruam tom ntej, cia ua haujlwm ntawm hluav taws xob.

Kauj Ruam 3: Kev Txuas Hluav Taws Xob

Txhua lub tshuab hluav taws xob xav tau hluav taws xob. Peb tuaj yeem tso lub roj teeb 1-cell rau qee qhov yooj yim, piv txwv li, hauv qab daim phiaj hluav taws xob hauv daim duab 1. Lub zog ntawm cov khoom siv hluav taws xob yog qhov tseem ceeb heev uas nws tsim nyog muaj tus lej tshwj xeeb los tham. Daim duab 2 qhia txog lub roj teeb sib txuas. Hauv pawg tswj hwm, qhov tsis sib xws yog cim los ntawm "+" thiab "GND", saib daim duab 3. Thaum lub roj teeb tsis muaj kua txiv, siv USB cable los rov roj teeb, saib daim duab 4. LED qhia tias "rov ua haujlwm dua" yuav raug txiav tawm thaum lub roj teeb puv dua. Kauj ruam kawg yog txhawm rau txuas lub tshuab hluav taws xob mus rau lub cav sib txuas hauv lub rooj tswj hwm. Muaj 3 lub cav sib txuas, sau los ntawm tus lej 16 hauv daim duab 3. Hauv daim duab 5, sab laug lub cev tau txuas nrog rau sab laug txuas txuas nrog PWM12, thiab lub cev muaj zog txuas nrog rau nruab nrab txuas. Tam sim no, tig lub tank (tsheb sib txawv tsav tsheb) sab laug-paub yog nyuaj-coded raws li kev txo qis ntawm lub cev muaj zog lub zog txuas nrog PWM12 lub cav chaw nres nkoj. Yog li lub cav txuas nrog PWM12 chaw nres nkoj yuav tsum tsav sab laug. Kuv yuav tom qab hloov tag nrho cov kev sib xyaw ua haujlwm kom siv tau teeb tsa. raws li Los ntawm kev sib pauv xaiv lub cav sib txuas xaiv, lossis thim rov qab lub cav txuas qhov kev taw qhia, peb tuaj yeem kho qhov teeb meem xws li Strandbeest txav rov qab thaum hais kom txav mus tom ntej, tig qhov tsis raug, nco ntsoov DC lub cev muaj zog hloov nws txoj kev tig yog tias cov xov hlau nkag txuas nrog lub zog tswj hwm hauv qhov kev thim rov qab.

Kauj ruam 4: App Chaw thiab Ua Haujlwm

Peb xub rub lub app hauv los ntawm Google Play Store, saib daim duab 1. Daim ntawv thov no muaj ntau lwm yam kev ua haujlwm uas peb tsis tuaj yeem npog hauv cov lus qhia no, peb tsuas yog tsom mus rau cov ncauj lus ncaj qha ntsig txog Strandbeest.

Qhib lub khoos phis tawj tswj hwm bluetooth, nws yuav tshwm nyob rau hauv cov npe ntawm cov cuab yeej tshawb pom. Nyem qhov ntev yuav coj peb mus rau huab cua rub tawm kom tau "qhia" tom qab. Ua ntej peb nyem thiab pib tswj, cia ua qee qhov teeb tsa ua ntej los ntawm txhaj rau sab xis saum toj "Chaw". Hauv daim duab 2, nws tau muab zais hauv qab… icon. Daim duab 3 qhia ntau pawg teeb tsa. Cov teeb tsa no, teeb tsa hauv App, tau muab coj los ua peb txoj hauv kev: 1) qee qhov kev teeb tsa tsuas yog cuam tshuam rau kev ua haujlwm ntawm App, xws li cov lej lej kom tau txais txhua lub cav lub zog tswj cov lus txib los ntawm koj lub kauj thiab lub qhov hais kom ua. Lawv nyob hauv App. Hauv qee qhov kev qhia tom ntej, peb yuav qhia peb yuav hloov lawv li cas nrog peb cov Python/Java programs. 2) qee qhov teeb tsa raug xa mus rau kho vajtse uas yog ib feem ntawm kev tswj hwm huab cua, xws li kev hloov pauv ntawm kev tswj ncaj qha (servo tig raws lub kaum sab xis hais kom ua) thiab ya los ntawm xaim tswj (ua nyob rau hauv kev tswj hwm tus kheej muaj nuj nqi ua haujlwm pabcuam servo) channel raws li tus neeg siv cov lus txib thiab tus cwj pwm tam sim no) 3) qee qhov teeb tsa yuav raug xa mus rau Qhov Tsis-Volatile Memory hauv cov cuab yeej kho vajtse. Yog li kho vajtse yuav ua raws cov teeb tsa no txhua lub sijhawm nws tau qhib yam tsis tau teeb tsa. Ib qho piv txwv yuav yog lub ntaus ntawv lub npe bluetooth. Hom kev teeb tsa no xav tau lub hwj chim-voj voog kom siv tau. Thawj qeb peb dhia mus rau yog "General Settings" hauv daim duab 4. "App tswj kev ua haujlwm" hauv daim duab 5 piav qhia lub luag haujlwm no li cas hauv app, tus tswj hwm rau cov cuab yeej kho vajtse hla kev txuas ncaj qha bluetooth; tus choj hla intranet/internet rau kev tswj xov tooj cua; thiab lwm yam Ntxiv mus, nplooj ntawv "HW yam" hauv daim duab 6 qhia rau koj tias koj tab tom ua haujlwm nrog lub tsheb sib txawv, yog li "lub tank" hom yuav tsum tau xaiv. Peb muaj 6 PWM tso tawm muaj nyob rau hauv tag nrho. Rau Strandbeest, peb yuav tsum teeb tsa channel 1 txog 4 raws li daim duab 7. Txhua PWM channel ua haujlwm hauv ib qho ntawm cov qauv hauv qab no: 1) servo normal: RC servo tswj los ntawm 1 txog 2ms PWM teeb liab 2) servo thim rov qab: tus tswj yuav thim rov qab tus neeg siv kev tswj hwm rau nws cov zis 3) DC lub cev muaj zog lub voj voog: DC lub cev muaj zog lossis qee yam khoom siv hluav taws xob, tuaj yeem ua haujlwm nyob rau hauv hom kev ua haujlwm, 0% raug kaw, 100% ib txwm nyob. 4) DC lub cev muaj zog lub voj voog rov qab: dua tus tswj hwm yuav thim rov qab cov neeg siv kev tswj hwm rau nws cov khoom tsim tawm Txij li thaum peb siv DC lub cev muaj zog thiab saib xyuas lub cav tig mus los ntawm kev kho vajtse xaj, peb yuav xaiv "DC lub luag haujlwm lub voj voog" rau channel 1 rau 4, saib daim duab 8. Peb kuj yuav tsum sib koom ua ke 2 PWM raws mus rau 1 H-choj, thiaj li ua kom muaj kev tswj xyuas ob txoj kev. Cov kauj ruam no tau qhia hauv daim duab 9. Hauv "2 PWM raws mus rau 1 H-choj" hom, channel 1, 3, thiab 5 tau siv los tswj ob txoj kev cuam tshuam. Nws qhia txog qhov xav tau kom rov ua dua qhov kev tswj hwm lub qhov rooj, nce-nqis tswj ntawm tus pas nrig los ntawm nws lub neej qub channel 2 mus rau channel 3. Nws tau ua tiav hauv daim duab 10. Raws li tau qhia hauv daim duab 11, txhua tus channel tau teeb tsa los ua ib qho kev xav tau los ntawm qhov chaw.

Bingo, tam sim no peb tau ua tiav qhov tsawg kawg yuav tsum tau teeb tsa, thiab peb tuaj yeem rov qab mus rau nplooj ntawv uas pom cov cuab yeej bluetooth thiab tau txuas nrog. Hauv daim duab 12, sim ua lub joystick, thiab peb tuaj yeem muaj kev lom zem nrog Strandbeest no. Sim nce qee qhov nqes hav, nco ntsoov tsom xam ntawm kev sib txhuam ntawm cov khoom siv, thiab nyeem lub davhlau tswj kev kwv yees tus cwj pwm, uas tau qhia hauv kab ntawv sau nrog "RPY (deg)", plaub qhov nkag hauv kab no yog yob, suab, yaw kaum kwv yees los ntawm lub ntsuas hluav taws xob thiab lub ntsuas hluav taws xob onboard; qhov kawg nkag yog qaij-them nyiaj compass tso zis.

Kev ua haujlwm yav tom ntej: hauv cov lus qhia hauv qab no, peb yuav maj mam npog nws cov program interface, xaiv koj hom lus Java lossis Python los cuam tshuam nrog Strandbeest, thiab tsis nyeem cov xwm txheej zoo los ntawm lub xov tooj ntawm tes. Peb tseem yuav pib ua haujlwm hauv RaspberryPi hom linux khoos phis tawj rau cov ncauj lus kom ntxaws dua, saib daim duab kawg. Txheeb xyuas https://xiapeiqing.github.io/doc/kits/strandbeest/roboticKits_strandbeest/ rau 3D luam cov tshuab txhua yam thiab https://github.com/xiapeiqing/m2robots.git rau SDK thiab piv txwv tus lej yog tias koj xav pib tam sim ntawd. Qhia rau kuv paub yam koj xav tau cov lus programming yog tias tsis yog Java lossis Python, kuv tuaj yeem ntxiv cov tshiab ntawm SDK.

Muaj kev lom zem nrog hacking thiab nyob twj ywm rau cov lus qhia hauv qab no.