[DIY] Spider Robot (Quad Robot, Quadruped): 14 Kauj Ruam (nrog Duab)

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

Yog tias koj xav tau kev txhawb nqa ntxiv los ntawm kuv, nws yuav zoo dua uas ua qee qhov pub dawb rau kuv:

2019-10-10 hloov tshiab: Tus tshiab compiler yuav ua rau cov lej suav daws teeb meem. Kuv tau hloov txoj cai lawm.

2017-03-26 hloov tshiab: Qhia tawm MG90 servo version-https://www.thingiverse.com/thing:2204279

koj tuaj yeem rub nws thiab tsim nrog MG90 servos.

Hloov tshiab 2016-11-1:

Txhua tus kab laug sab tshiab -

2016-04-01 Hloov Kho:

Kho lub roj teeb lub npe lub npe thiab qhov ntev.

Hloov tshiab 2016-01-24

Qhib tag nrho cov qauv tsim uas suav nrog software, Sketchup, EaglePCB, 2015-10-11 upload cov duab teeb tsa PCB.

Hloov tshiab 2015-10-04:

Kauj ruam 2: schematic pdf file-spider_2015-10-04-open-v2.pdf

Kauj ruam 10: daim duab 1.

Hloov tshiab 2015-11-19

Xa cov ntaub ntawv kos duab Arduino uas yog "kev seev cev tshwj xeeb" suav nrog (qib 13). Ib tus neeg uas nug txog nws, lawv txaus siab rau nws.:-)

Nov yog kuv thawj qhov haujlwm rau 4 ceg neeg hlau thiab nws coj kuv txog 1 xyoos kev txhim kho.

Nws yog tus neeg hlau uas tso siab rau kev suav mus rau txoj haujlwm servos thiab cov phiaj xwm ua ntej ntawm cov ceg.

Kuv ua qhov no los ntawm kev xuas tes ua yog vim nws tuaj yeem lom zem thiab kev kawm rau 3D tsim/luam ntawv thiab tswj neeg hlau.

Nov yog plaub tiam ntawm kuv tsim, koj tuaj yeem saib ntawm no yog tias koj xav paub keeb kwm.

regishsu.blogspot.tw/search/label/0. SpiderR…

2 ntau txoj haujlwm sib koom -

Spider Robot simulator los ntawm vPython

www.instructables.com/id/vPython-Spider-Rob…

Kev tswj chaw taws teeb los ntawm bluetooth

www.instructables.com/id/DIY-Spider-Robot-P…

Kev tsim txoj haujlwm no yog kev lom zem, txawm li cas los xij, nws yuav tsum siv sijhawm ntau dua thiab ua siab ntev los siv.

Yog tias nws yog txoj haujlwm nyuaj rau koj, cov khoom lag luam los ntawm Sunfounder yuav yog qhov kev xaiv zoo.

www.sunfounder.com/robotic-drone/quadruped/crawling-quadruped-robot-kit.html

Ua ntej yuav mus rau kauj ruam tom ntej, thov paub tias cov cuab yeej sib tsoo thiab tshuab luam ntawv 3D yuav raug siv hauv txoj haujlwm no.

Cia peb pib thiab muaj kev lom zem!

Kauj Ruam 1: Kev Npaj Cov Khoom Hluav Taws Xob

Nov yog ntu:

1 x Arduino Pro Mini

1x DC-DC (12-5v/3A tso zis)

1x HC-06 Bluetooth module (xaiv)

12x SG90 servo (3DOF rau 4 ceg)

1x 3000mhA Li roj teeb (DC12300, 90x43x17mm)

1x 12 V Jack

1x 680 Ohm 1/4 watt 5% Resistor

1x 3mm Xiav LED

1x Tactile Hloov

1x 5 x 7 cm perfboard

Qee tus txiv neej thiab poj niam tus pin headers

Cov xov hlau me me (Khoom lossis tso tseg)

Kuv ntseeg tias cov khoom no nrov tshaj plaws thiab tsis kim. Lawv tsuas yog them kuv txog 2, 000 Taiwan daus las.

Kauj Ruam 2: Ua Tus Thawj Coj Loj

2015-10-11

upload PCB cov duab teeb duab, koj yuav tsum rub tawm cov ntawv zip yuav zoo dua.

Koj tuaj yeem tuaj ntawm no kom paub ntau ntxiv txog PCB DIY.

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Xa mus rau cov ntaub ntawv schematics, thiab tso txhua yam khoom zoo ib yam li cov duab. koj tuaj yeem ua lub rooj tsavxwm kom me li hla tau.

Lub rooj tsavxwm tseem ceeb uas daim duab kawg yog daim tshiab tshaj plaws, tsuas yog rau koj siv.

Nov yog qee cov lus qhia thaum koj tab tom tsim lub PCB:

1. Nco ntsoov tias qhov hluav taws xob tso tawm ntawm DC-DC module yuav tsum yog 5v ua ntej nce mus rau lub perfboard.

2. Cov servos siv hluav taws xob ntau, yuav luag 3A hauv kev thauj khoom tag nrho. Thov siv cov xaim tuab ntxiv rau "lub zog" thiab hauv av "cov kab.

3. Ua qhov "qhib/luv" ntsuas nrog ntau lub ntsuas rau koj lub PCB thaum koj ua tiav cov tshuaj txhuam, uas yog txheej txheem tseem ceeb.

4. Siv tus poj niam tus pin lub taub hau hloov pauv ntawm cov qauv (Arduino, DC-DC) ntawm perfboard ncaj qha

5. Lub LED yuav nyob thaum lub "Hloov" kaw. Vim li cas kuv tsim txoj hauv kev no vim tias kuv xav tshuaj xyuas lub hwj chim qhov twg los tau lossis tsis yog thaum kuv ntsaws lub hwj chim zoo li roj teeb lossis lwm yam, nws yog txoj hauv kev yooj yim rau kev tiv thaiv..

6. Thaum koj pom LED tig rau tom qab txuas lub roj teeb 12v rau hauv pawg thawj coj, zoo siab!

Kauj Ruam 3: Xeem Lub Rooj Tsav Xwm Loj

Cov txheej txheem sim:

1. Tsis txhob ntsaws DC-DC thiab Arduino Pro Mini rau hauv pawg thawj coj

2. txuas lub roj teeb mus rau 12v-Jack ntawm lub rooj tsav xwm tseem ceeb

3. Txheeb xyuas LED, yog tias LED qhib, qhov ntawd yog qhov pib zoo.

4. Thawb lub POWER-Hloov, LED yuav tsum tawm.

4. Siv lub ntsuas ntsuas ntau los txheeb xyuas txhua qhov +5V thiab GND pins raug

5. Thawb lub POWER-Hloov rov qab kom tua lub zog, LED tig rau

6. Txuas DC-DC thiab Arduino Pro Mini rau hauv pawg thawj coj

7. Thawb lub POWER-Hloov, LED tua, tab sis LED ntawm Arduino Pro Mini tig rau

Tom qab ntawd fais fab tuag, thiab txuas ib qho kev pabcuam rau thawj kab ntawm Leg1 txuas ntawm lub rooj tsav xwm tseem ceeb (tus pin2 ntawm Arduino)

upload cov "servo_test" code rau Arduino thiab koj yuav pom cov kev pabcuam los ntawm 0 - 180 degree.

Yog tias koj nyob ntawm no yam tsis muaj teeb meem, qhov ntawd yog kev nce qib zoo!

servo_test qhov chaws:

Kauj Ruam 4: Txhim Kho Cov Neeg Kho Tshuab - Rub Tawm 3D STL Cov Ntaub Ntawv

Cov kauj ruam no yuav tsim cov neeg hlau ua cov tshuab, koj tuaj yeem luam cov khoom los ntawm koj tus kheej lossis nug ib tus neeg uas muaj lub tshuab luam ntawv 3D los pab koj.

Kuv kuj qhib qhov qauv 3D qauv uas yog tsim los ntawm Sketchup Make version thiab koj tuaj yeem hloov kho nws nrog koj lub tswv yim zoo.

Rub tawm STL cov ntaub ntawv los ntawm https://www.thingiverse.com/thing: 009659

Sau cov npe ntu: 1x lub cev_d.stl

1 x body_u.stl

2 x coxa_l.stl

2 x coxa_r.stl

2x tib tib_l.stl

2x tib tib_r.stl

4x femur_1.stl

8 x s_hold.stl

Kauj Ruam 5: 3D Lub Hom Phiaj Luam Ntawv

Thiab luam tawm lawv los ntawm koj lub tshuab luam ntawv 3D.

Thov txheeb xyuas qhov teeb tsa ntawm 3D tshuab luam ntawv ua ntej pib luam tawm vim tias nws yuav siv sijhawm ntev txog 7 ~ 8 teev los luam tag nrho lawv. Ua siab ntev ~~~~

Muaj kuv qhov chaw luam tawm:

- Qhov ntim ntom ntom - 15%

Nozzle - 0.3 hli

- Luam nrawm - 65

koj tuaj yeem luam cov ntu no cais los ntawm pab pawg xim.

Kauj Ruam 6: Npaj Ua Kom Pom Zoo

rhuav cov khoom thiab tshuaj xyuas cov khoom luam tawm zoo, thiab siv cov ntawv xuab zeb los txhuam cov nplaim kom nws zoo.

Saib ntawm no kom tau txais xov xwm ntau ntxiv:

Kauj Ruam 7: Sib Sau Lub Cev

Muab lub roj teeb nruab nrab ntawm rooj plaub hauv lub cev thiab lub cev qis nrog 4 cov ntsia hlau (M3x25mm)

Kauj Ruam 8: Sib sau ceg

Thiab, teeb tsa txhua qhov kev pabcuam nrog cov ceg, ib ceg tuaj nrog 3 servos thiab 4 screws (M1.6x3mm, lossis kua nplaum nws lawm)

Cov Lus Cim: 1. Txuas rau txhua ntu nrog cov ntsia hlau thiab servos, tab sis tsis txhob teeb tsa lub servo rocker caj npab hauv cov kauj ruam no 2. Nco ntsoov cov lus taw qhia, xa mus rau daim duab 1 Mus rau ntawm no kom tau txais cov ntaub ntawv ntau ntxiv: https:// regishsu.blogspot.tw/2015/07/neeg hlau-quadrupe…

Kauj Ruam 9: Sib koom 4 ceg rau lub cev

txuas tag nrho ob txhais ceg rau lub cev, thiab txheeb xyuas txhua qhov kev pabcuam thiab cov pob qij txha tau txav mus tau zoo.

Kauj Ruam 10: Txuas Servos rau Lub Rooj Tsav Xwm Loj

2015-10-04

hloov daim duab 1 uas yog tus lej pin tsis raug.

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Muab lub rooj tsav xwm tseem ceeb tso rau hauv rooj plaub ntawm lub cev thiab siv cov av nplaum polymer los kho nws.

Thiab tom qab ntawd, xa mus rau daim duab, ua raws tus lej tus lej uas cim los ntawm cov xim liab txuas rau txhua lub xaim hlau txuas rau lub rooj tsav xwm tseem ceeb, thiab xim ntsuab yog tam sim no lub teeb liab qhia ntawm servo hlau, daj txuas rau "S", liab rau " +", xim av rau"-".

Nco ntsoov tias servo ntawm ob txhais ceg yuav tsum phim tus lej tus lej ntawm pawg thawj coj thiab ceg taw, txwv tsis pub, ob txhais ceg yuav vwm …

Kauj Ruam 11: Nrhiav Thawj Txoj Haujlwm rau Ob txhais ceg

Nov yog txheej txheem tseem ceeb, txheej txheem teeb tsa:

1. tso tus lej "leg_init" rau Arduino kom qhib qhov kev pabcuam

2. tso ob txhais ceg raws li txoj haujlwm qhia hauv daim duab 1, thiab teeb tsa lub servo rocker caj npab nrog cov ntsia hlau.

3. kaw tag nrho cov ntsia hlau

leg_init qhov chaws:

Kauj Ruam 12: Npaj Cov Xov Tooj

Tom qab ntawd, teeb tsa cov xov hlau ntawm cov servos kom nws zoo saib.

Tam sim no, txhua qhov kev teeb tsa kho vajtse tau ua tiav.

Kauj Ruam 13: Nws Yog Sijhawm

Nws zoo siab heev los ua cov kauj ruam no.

Cia peb upload qhov "spider_open_v1" code rau Arduino kom nws txav mus!

Thov rub tawm thiab teeb tsa lib FlexiTimer2 ua ntej ua ntej sau cov cai, koj yuav pom qhov kev ua raws li hauv qab no

1. sawv ntsug, tos 2 feeb

2. nqis 5 kauj ruam, tos 2 vib nas this

3. thim rov qab 5 kauj ruam, tos 2 feeb

4. tig sab xis, tos 2 feeb

5. lem sab laug, tos 2 feeb

6. yoj tes, tos 2 feeb

7. tuav tes, tos 2 feeb

8. zaum, tos 2 feeb

9. rov mus rau 1

Txaus siab rau!

PS. spider_open_v3 yog ntxiv qhov nthuav txav ntawm "seev cev lub cev"

spider_open_v1 qhov chaws:

Kauj Ruam 14: Ua Ib Yam Tshwj Xeeb

koj tuaj yeem ntxiv qhov tshwj xeeb zoo li hloov pauv qhov nrawm nrawm nrog kev tswj chaw taws teeb, uas yuav cia koj tus neeg hlau nyiam dua.

Yog tias koj pom kuv tus qauv nthuav, koj tuaj yeem ua pub dawb:

Zoo siab txais tos los koom kev lom zem gaits lossis txav mus los.

Cov chaw taws teeb tswj

www.instructables.com/id/DIY-Spider-Robot-P…

Nov yog qee lub tswv yim qhia nrog koj hauv kuv qhov blog.

regishsu.blogspot.tw/2015/09/robot-quadrupe…

los yog

Ntxiv IR-ntes kom pom qhov teeb meem.

regishsu.blogspot.tw/2015/08/robot-quadrupe…

los yog

xuas tes ua PCB

regishsu.blogspot.tw/2015/09/robot-quadrupe…

regishsu.blogspot.tw/2015/09/robot-quadrupe…