Spiderbot V2 Neeg Hlau Tsheb: 8 Kauj Ruam (nrog Duab)

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

Spiderbot V2 yog qhov hloov kho tshiab ntawm kuv qhov haujlwm kawg:

Spiderbot tau tshoov siab los ntawm "Transformers". Nws yog RC plaub -plaub tus neeg hlau thiab muaj ob hom kev ua haujlwm: kab laug sab thiab tsheb, ib yam li cov neeg hlau hauv "Transformers". Nws yog Arduino-based thiab tswj los ntawm lub xov tooj Android siv Bluetooth.

Hauv qhov kev hloov pauv no, qhov sib txawv kinematics tau suav nrog rau kev txav neeg hlau zoo dua. Lub log ib txwm nyob hauv qhov kawg tau hloov los ntawm lub log omni, nws muab kev txav mus los ntau dua hauv tsheb hom.

Koj yuav tsum txheeb xyuas qhov ua yeeb yaj kiab Youtube ua ntej ua ntej!

Vam tias koj nyiam nws!

Kauj Ruam 1: Cov Khoom thiab Txuj Ci Xav Tau

Cov Khoom Siv Hluav Taws Xob

• Arduino ProMini x1
• EMAX ES08MA II 12g Mini Hlau Iav Analog Servo x12
• Adafruit 16-Channel 12-ntsis PWM/Servo Driver x1
• Bluetooth HC-05 module x1
• H-choj tsav tsheb IC L293D x2
• 300RPM 6V N20 DC Gear Tsav X4
• Hobbywing UBEC-8A 2-6S Lipo Input 8A UBEC rau RC Qauv x1
• UniHobby 38mm Ob Chav Yas Omni Log nrog 4mm txuas txuas x4
• 50x23x25mm Hlau Pob Omni Log x1
• LION Power 7.4V 900MAH 25C LiPo Roj teeb x1
• JST-socket roj teeb cable x1
• 7 cm x 5 cm Perfboard x1
• Qee cov xov hlau, tus pin taub hau thiab lub qhov (socket), hloov pauv

Qhov Chaw Kho Tshuab

• M2 x 10mm Hloov Lub taub hau taub hau thiab txiv ntseej x50
• M1.2 x 6mm Countersunk Lub Taub Hau Tus Kheej Ntsia Hlau x30
• 3D luam tawm

Yuav tsum muaj txuj ci

Soldering

Kauj Ruam 2: Npaj 3D Luam Lub Cev

3D Qhov Yuav Tsum Tau

Zip cov ntaub ntawv suav nrog 11 cov ntaub ntawv. Txhawm rau tsim tus neeg hlau, koj yuav tsum luam tawm:

• Lub cev.stl x1
• Npog.stl x1
• Txuas.stl x8
• Coxa.stl x2
• Coxa_mirror.stl x2
• Femur.stl x2
• Femur_Connect.stl x4
• Femur_Mirror.stl x2
• Tibia.stl x 4
• Tibia_Connect.stl x4
• Toe.stl x 4

www.thingiverse.com/thing:2289392

Kauj Ruam 3: Muab Lub Rooj Tsav Xwm Loj

Ua ntej sib sau ua ke lub cev, peb yuav tsum ua lub rooj tsavxwm tseem ceeb. Nws yog vim tias cov servos yuav tsum tau pib ua rau xoom txoj haujlwm ua ntej txuas mus rau servo caj npab.

Txhawm rau ua lub rooj tsavxwm tseem ceeb:

1. Txiav tawm 3 kab ntawm cov ntawv ntoo raws li qhia hauv daim duab saum toj no.
2. Muab tso rau Arduino Mini, HC-05, ob L293D, 4 2-pin headers, 5-pin socket thiab hloov ntawm perfboard raws li qhia saum toj no
3. Cov laug thiab txuas cov khoom sib koom ua ke raws li cov txheej txheem siv cov xov hlau
4. Tom qab muag tag nrho cov kev sib txuas, nws yuav zoo li cov duab saum toj no.

drive.google.com/file/d/1JmwV66b29WVJqhUEg4nHHdO0cc1QmIgX/view?usp=drivesdk

Kauj Ruam 4: Sib Sau Ua Ke

Omni Log

Sib dhos lub log tag nrho, txuas cov ntiv taw rau nws. Siv ob txoj kab 30cm xaim rau DC motors. Tom qab ntawd txuas DC lub cav thiab lub log.

Tibia

Txuas lub servo rau hauv tibia. Tom qab ntawd, tso txhua lub log hauv lub qhov ntawm tibia thiab ntsia hlau nrog lub hau.

Poj niam

Txuas ib sab ntawm servo rau hauv femur, tso lub femur txuas ntawm servo thiab femur.

Coxa

Txuas lub servo rau hauv coxa.

Lub cev

Txuas cov hlau hlau hauv qab lub cev

Kauj Ruam 5: Txuas Servos rau PWM Tsav Tsheb

Ntawm tus tsav tsheb PWM, muaj 16 txoj hauv kev thiab peb tsuas yog siv 12 ntawm nws.

Txuas cov servos raws li cov npe hauv qab no:

Ceg 1:

• Coxa -> Channel 0
• Femur -> Channel 1
• Tibia -> Channel 2

Ceg 2:

• Coxa -> Channel 4
• Femur -> Channel 5
• Tibia -> Channel 6

Ceg 3:

• Coxa -> Channel 8
• Femur -> Channel 9
• Tibia -> Channel 10

Ceg 4:

• Coxa -> Channel 12
• Femur -> Channel 13
• Tibia -> Channel 14

Tom qab ntawd txuas PWM tus tsav tsheb mus rau lub rooj tsavxwm tseem ceeb.

Solder lub roj teeb rau UBEC ua ke nrog lub zog hloov pauv tseem ceeb thiab txuas nws mus rau PWM tus tsav tsheb.

Kauj Ruam 6: Pib Servos

Rub cov ntawv txuas

Tsis pom zoo pib qhov chaws thiab xa nws mus rau Arduino.

Tua lub bluetooth fais fab hloov ua ntej uploading code.

Qhib lub zog, thiab tom qab ntawd sib sau ua ke ib yam li cov duab qhia saum toj no.

Ceev cov ntsia hlau ntawm servo caj npab txhawm rau txhim kho txoj haujlwm.

Cov cai tau hloov pauv los ntawm

Kauj Ruam 7: Ntxiv Npog

Tom qab pib siv servos, tawm tswv yim pib ua ntej thiab xa mus rau Arduino dua.

Muab lub hau npog rau saum tus neeg hlau thiab ntxiv txuas txhawm rau txhim kho txoj haujlwm.

Kauj Ruam 8: Android App Control

Rub tawm lub app los ntawm

github.com/anoochit/android-robot-bluetooth-joystick

Teeb tsa kev tswj hwm raws li Arduino code.

Thiab txhua yam ua tiav ~