UStepper Neeg Hlau Caj Npab 4: 5 Cov Kauj Ruam

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

Nov yog qhov rov tshwm sim thib 4 ntawm kuv lub caj npab Robotic, uas kuv tau tsim los ua daim ntawv thov rau peb pawg tswj hwm stepper stepper. Txij li tus neeg hlau muaj 3 tus neeg tsav tsheb thiab lub servo rau kev ua haujlwm (hauv nws qhov kev teeb tsa yooj yim) nws tsis txwv rau uStepper, tab sis tuaj yeem siv nrog txhua tus tsav tsheb tsav tsheb.

Kev tsim qauv yog ua raws li cov neeg hlau palletizer muaj - thiab yog qhov yooj yim. Nrog qhov hais tias, Kuv tau siv sijhawm ntau teev los nrog tsim thiab ua kom zoo dua ob qho tib si kom yooj yim ntawm kev sib dhos, tab sis kuj yooj yim ntawm kev luam cov ntu.

Kuv tau tsim tus qauv yooj yim ntawm kev luam ntawv thiab yooj yim ntawm kev sib dhos hauv siab. Tsis yog tias tsis muaj txoj hauv kev los txhim kho ntawm ob qhov kev ntsuas no, tab sis kuv xav tias kuv tau dhau los lawm. Tsis tas li ntawd, Kuv xav rub cov neeg hlau tsim khoom lag luam nqis mus rau qib uas cov neeg nyiam ua haujlwm tuaj yeem ua raws nws los ntawm kev qhia tias nws tuaj yeem ua tau yooj yim dua - kuj ua lej los tswj nws!

Xav tias tawm hauv kev tawm tswv yim nrog kev tawm tswv yim ntawm ob qho kev tsim tab sis feem ntau ntawm txhua qhov kuv yuav ua li cas thiaj ua rau txhua tus nkag mus (tshwj xeeb yog lej).

Kauj Ruam 1: Qhov Yuav Tsum Muaj, Luam Ntawv 3D thiab Sib dhos

Yeej txhua yam koj xav paub yog nyob hauv phau ntawv sib dhos. Muaj cov ncauj lus kom ntxaws BOM nrog rau ob qho yuav thiab luam tawm ntu thiab cov ncauj lus qhia ntxaws ua ke.

3D luam ntawv tau ua tiav ntawm qhov tsim nyog zoo 3D tshuab luam ntawv (FDM) nrog txheej qhov siab ntawm 0.2 hli thiab 30 % ntxiv. Koj tuaj yeem pom qhov rov ua dua ntawm cov ntu thiab cov lus qhia ntawm no:

Kauj ruam 2: Kinematics

Txhawm rau ua kom caj npab txav mus los nyob rau hauv ib qho kev pom tau zoo koj yuav tsum ua lej: OI tau saib ntau qhov chaw rau kev piav qhia yooj yim ntawm kinematics cuam tshuam nrog hom neeg hlau no, tab sis kuv tsis tau pom ib qho uas kuv ntseeg tias yog ib qib yog cov neeg feem coob tuaj yeem nkag siab nws. Kuv tau ua tiav kuv tus kheej ntawm kinematics raws li ib feem ntawm trigonometry thiab tsis yog cov lej hloov pauv uas tuaj yeem zoo li txaus ntshai yog tias koj tsis tau ua haujlwm ntawm cov khoom ntawd ua ntej - txawm li cas los xij, lawv yooj yim heev rau cov neeg hlau tshwj xeeb no vim nws tsuas yog 3 DOF.

Tsis muaj qhov tsawg Kuv xav tias kuv txoj hauv kev hauv daim ntawv txuas tau sau hauv qhov yooj yim nkag siab. Tab sis ua tibzoo saib thiab saib yog nws ua rau koj!

Kauj Ruam 3: Coding Kinematics

Cov kinematics tuaj yeem nyuaj rau nkag siab txawm tias suav nrog kuv tau muab rau yav dhau los. Yog li ntawm no yog thawj zaug ntawm kev siv Octave - Octave yog cov cuab yeej pub dawb nrog ntau yam zoo ib yam pom hauv Matlab.

L1o = 40; Zo = -70; L_2 = 73.0; UA = 188.0; Al = 182.0; Yog = 47.0; UPPERARMLEN = Au; LOWERARMLEN = Al; XOFFSET = Lo; ZOFFSET = L_2; AZOFFSET = Zo; AXOFFSET = L1o; disp ('Code siv') disp ('Cov tswv yim kaum:') rot = deg2rad (30); txoj cai = deg2rad (142.5); sab laug = deg2rad (50); rad2deg (rot) rad2deg (sab xis) rad2deg (sab laug) T1 = rot; #base T2 = sab xis;#xub pwg T3 = sab laug; #elbow #FW kinematics kom tau XYZ los ntawm cov ces kaum: faib ('X X, Y, Z:') z = ZOFFSET + sin (txoj cai)*LOWERARMLEN - cos (sab laug - (pi/2 - txoj cai))*UPPERARMLEN + AZOFFSET k1 = sin (sab laug - (pi/2 - txoj cai))*UPPERARMLEN + cos (sab xis)* LOWERARMLEN + XOFFSET + AXOFFSET; x = cos (rot)*k1 y = sin (rot)*k1 ## inverse kinematics kom tau cov ces kaum los ntawm XYZ: rot = atan2 (y, x); x = x - cos (rot)*AXOFFSET; y = y - sin (rot)*AXOFFSET; z = z - AZOFFSET -ZOFFSET; L1 = sqrt (x*x + y*y) - XOFFSET; L2 = sqrt ((L1)*(L1) + (z)*(z)); a = (z)/L2; b = (L2*L2 + LOWERARMLEN*LOWERARMLEN - UPPERARMLEN*UPPERARMLEN)/(2*L2*LOWERARMLEN); c = (LOWERARMLEN*LOWERARMLEN + UPPERARMLEN*UPPERARMLEN - L2*L2)/(2*LOWERARMLEN*UPPERARMLEN); txoj cai = (atan2 (a, sqrt (1-a*a)) + atan2 (sqrt (1-b*b), b)); sab laug = atan2 (sqrt (1-c*c), c); ## cov txiaj ntsig tau suav cov ces kaum disp ('Cov ces kaum tawm:') rot = rad2deg (rot) sab xis = rad2deg (sab xis) sab laug = rad2deg (sab laug)

Nrog cov ntawv sau saum toj no koj ib txwm muaj qhov kev npaj npaj ua ntej rau pem hauv ntej thiab rov qab kinematics.

Forward Kinematics koj siv rau kev suav qhov twg koj yuav xaus nrog cov txheej txheem ntawm lub cev muaj zog. Inverse kinematics yuav tom qab ntawd (ua qhov hloov pauv) xam lub kaum sab xis lub cev uas koj xav tau kom mus txog qhov xav tau x, y, z txoj haujlwm. Cov kev txwv ntawm lub cev muaj zog txav mus los yuav tsum tau ntxig, xws li kev sib hloov hauv paus tuaj yeem tsuas yog los ntawm 0 txog 359 qib. Txoj hauv kev no koj ua kom ntseeg tau tias koj yuav tsis mus rau txoj haujlwm uas tsis tuaj yeem ua tau.

Kauj ruam 4: Khiav Qhov Tseeb

Peb tsis nyob ntawd nrog kinematics tsev qiv ntawv siv, yog li ntawd kuv tseem tsis tuaj yeem muab. Tab sis kuv tuaj yeem qhia koj daim vis dis aus ntawm nws ua haujlwm li cas. Nws ruaj khov thiab du vim tias siv cov kabmob thiab siv txoj siv, ntxiv rau qhov tsim nyog ntawm kev tsav tsheb uas nyob ntawm no uStepper S cov laug cam.

Kauj Ruam 5: Cov Kawg Nkaus Ntxiv

Kuv tau tsim 3 qhov cuam tshuam kawg ntxiv. Ib qho yog yooj yim heev tuav kab rov tav, lwm qhov haum rau European npias lossis dej qab zib tuaj yeem thiab kawg muaj lub tshuab nqus tsev nqus dej uas ua rau koj haum rau lub khob nqus, lub twj tso kua mis thiab lub valve.

Txhua yam yuav yog lossis muaj nyob ntawm no (3D STL cov ntaub ntawv thiab cov lus qhia):