Popsicle Stick Robotic Arm: 17 Kauj Ruam (nrog Duab)

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

Nov yog yuav ua li cas kom yooj yim neeg hlau caj npab nrog tus tuav siv popsicle sticks, Arduino, thiab ob peb servos.

Khoom siv

Xav tias siv cov ntaub ntawv zoo sib xws lossis txhua yam uas koj twb muaj lawm. (piv txwv li duab los qhia siv cov popsicle sticks)

Cov ntaub ntawv:

• 14 Popsicle Sticks
• 4 Micro Servos (nrog lawv lub tshuab raj thiab ntsia hlau)
• 4 Teb Potentiometers
• 1 Ib nrab Loj Breadboard
• 1 Arduino UAS
• 16-Volt Roj Teeb Pob
• 26 Jumper Cables

Cov Cuab Yeej:

• Kub Nplaum Rab phom + Kub nplaum nplaum
• Precision screwdriver lossis lwm tus ntsia hlau me me
• Arduino IDE Cov
• USB rau Arduino Cable

Kauj Ruam 1: Xaiv Horns rau Koj Cov Servos

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

• 4 Micro Kev Pabcuam
• 3 Horn uas nthuav tawm hauv 2 txoj kev qhia
• 1 Horn uas txuas rau hauv 1 kev taw qhia

Cov lus qhia:

Txuas lub tshuab raj (txuas tis dawb) rau cov servos. Peb ntawm cov servos xav tau lub suab raj uas nthuav tawm hauv ob qho kev qhia thaum ib tus neeg pabcuam yuav xav tau lub suab raj uas txuas rau hauv ib qho nkaus xwb. Cias pop lub suab raj rau saum cov servos.

Kauj ruam 2: Calibrate Servos

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

4 Micro Kev Pabcuam

Cov lus qhia:

Tig lub horn tig rov qab raws li qhov ua tau. Tom qab ntawd, tshem lub suab tawm thiab rov qab rau ntawm txoj haujlwm ntsuas.

Ib qho ntawm servos nrog ob lub raj xa xov yuav tsum tau ntsuas ntsuas sib npaug rau servo thaum lwm qhov peb yuav tsum tau ntsuas ntsuas nyob ib puag ncig rau servos.

Saum toj no yog daim duab ntawm cov ntsuas ntsuas ntsuas tau muab tig rov qab. Cov no yog cov haujlwm ntsuas

Vim li cas calibrate servos? Servos tsuas yog txav 180 degrees yog li nws tseem ceeb heev uas peb ntsuas cov servos kom cov servo tig nruab nrab ntawm cov ces kaum uas peb xav kom sov.

Kauj Ruam 3: Ntsia hauv Servos

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

• 4 Micro Kev Pabcuam
• 4 Cov Ntsia Hlau Me
• Precision screwdriver lossis lwm tus ntsia hlau me me

Cov lus qhia:

Ntsia lub tshuab raj siv lub ntsia hlau me me thiab cov ntsia hlau uas tsim nyog.

Kauj Ruam 4: Txuas Popsicle Sticks rau Servos (pt 1/4)

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

• Ib qho servo uas tau ntsuas ntsuas yog li lub tshuab raj zoo ib yam rau servo
• 1 Popsicle lo
• Kub Nplaum Phom

Cov lus qhia:

Rau cov servo uas tau ntsuas ntsuas kom lub suab sib luag mus rau qhov kev pabcuam, kub kua nplaum ib kawg ntawm cov popsicle lo rau sab tiaj ntawm lub suab.

Saum toj no yog daim duab ntawm qhov kev pabcuam no tig rov qab tag nrho

Kauj Ruam 5: Txuas Popsicle Sticks rau Servos (pt 2/4)

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

• Ib qho ntawm lwm qhov ob qhov kev pabcuam uas muaj ob lub suab raj
• 1 Popsicle lo
• Kub Nplaum Phom

Cov lus qhia:

Kuaj ib qho kawg ntawm cov popsicle lo rau sab tiaj ntawm lub tog raj kheej.

Saum toj no yog daim duab ntawm qhov kev pabcuam no tig rov qab tag nrho

Kauj Ruam 6: Txuas Popsicle Sticks rau Servos (pt 3/4)

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

• Qhov kawg servo uas muaj ob-taw qhia
• 1 Popsicle lo
• Kub Nplaum Phom

Cov lus qhia:

Txog rau lwm qhov kev pabcuam, ua kua nplaum nruab nrab ntawm cov popsicle lo rau sab tiaj ntawm lub suab raj.

Saum toj no yog daim duab ntawm qhov kev pabcuam no tig rov qab tag nrho

Kauj Ruam 7: Txuas Popsicle Sticks rau Servos (pt 4/4)

Cov kauj ruam no txawv. Ua tib zoo nyeem

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

• Ib qho servo nrog ib leeg-taw qhia
• 1 Popsicle lo
• Kub Nplaum Phom

Cov lus qhia:

Kuaj ib qho kawg ntawm cov popsicle lo rau qhov nyias ib sab xis ntawm lub raj. Yog, cov popsicle lo yog "ib sab" piv rau cov kauj ruam dhau los. Qhov no tej zaum yuav nyuaj me ntsis rau kua nplaum.

Saum toj no yog daim duab ntawm qhov kev pabcuam no tig rov qab tag nrho

Kauj Ruam 8: Tsim Lub Hauv Paus rau Ib Qhov Kev Pabcuam

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

• Ib qho servo uas tau ntsuas raws li lub tshuab raj yog sib npaug rau servo
• 4 Popsicle sticks
• Kub Nplaum Phom

Cov lus qhia:

Kub nplaum plaub popsicle sticks kom lawv tau sib dhos rau saum ib leeg. Tua tawm cov kua nplaum ntau dhau ntawm cov npoo.

Tom qab ntawd, lo rau hauv qab ntawm servo mus rau qhov nruab nrab ntawm ib sab tiaj tiaj ntawm popsicle stick pawg. Tua tawm cov kua nplaum ntau dhau.

Kauj Ruam 9: Tsim Lub Hauv Paus rau Tus Neeg Hlau Tag Nrho

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

• 6 Popsicle Sticks
• Kub Nplaum Phom

Cov lus qhia:

Tuav 3 popsicle sticks hauv ib qho kev taw qhia. Tom qab ntawd nteg 3 popsicle sticks hauv lwm qhov kev sib tshuam siv cov kua nplaum kub los txuas txhua yam.

Kauj Ruam 10: Txuas Thawj Servo

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

• Ib qho servo nrog nruab nrab ntawm cov popsicle lo glued mus rau servo
• Kub Nplaum Phom
• Lub hauv paus rau Tus Neeg Hlau Tag nrho los ntawm cov kauj ruam kawg

Cov lus qhia:

Kaw cov hauv qab ntawm servo mus rau lub hauv paus.

Kauj Ruam 11: Txuas Qhov Kev Pab Cuam thib Ob

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

• Cov servo nrog cov pawg ntawm popsicle sticks txuas rau lub hauv paus
• Tus qauv los ntawm cov kauj ruam kawg
• Kub Nplaum Phom

Cov lus qhia:

Taw qhia cov servo ib sab kom cov popsicle stick tuaj yeem tig mus rau saum huab cua.

Ua kua nplaum rau hauv qab txoj hauv kev ntug ntawm cov popsicle stick pawg rau cov qauv uas twb muaj lawm. (saib daim duab)

Kauj Ruam 12: Txuas Tus Pabcuam thib Peb

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

• Qhov kawg servo nrog ob chav taw qhia
• Tus qauv los ntawm cov kauj ruam kawg
• Kub Nplaum Phom

Cov lus qhia:

Kaw cov servo mus rau qhov kawg ntawm cov qauv uas twb muaj lawm uas tau nthuav tawm popsicle lo kom cov servo lub popsicle stick tig mus deb ntawm qhov chaw ntawm neeg hlau

Kauj Ruam 13: Txuas Qhov Kev Pab Cuam Kawg! (Gripper)

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

• Qhov kawg servo
• Tus qauv los ntawm cov kauj ruam kawg
• Kub Nplaum Phom

Cov lus qhia:

Kua nplaum sab tiaj (raws li tawm tsam rau hauv qab ntawm servo siv nyob rau hauv cov kauj ruam dhau los) mus rau sab ze ntawm qhov kawg servo's popsicle stick kom cov servo's popsicle stick tig rau hauv ib puag ncig ib yam li qhov kawg servo's popsicle stick.

Thaum gluing, nco ntsoov tig lub servo kom thaum lub servo tig txog ib nrab, ob lub popsicle sticks kov ntawm lub ntsis.

Saum toj no yog daim duab ntawm tus qhib thiab kaw tus tuav

Kauj Ruam 14: Sib sau Ua Ke

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

• 1 Ib nrab me me ntawm lub khob cij
• 1 Arduino Uno lossis sib npaug microcontroller
• 26 Jumper cables
• 1 6-Volt roj teeb pob (6 volts max)

Cov lus qhia:

Luam daim duab qhia saum toj no!

Kauj Ruam 15: Tshaj Tawm Txoj Cai

Cov Ntaub Ntawv rau Cov Kauj Ruam no:

• Arduino IDE Cov
• USB rau Arduino Cable

Cov lus qhia:

Tshaj tawm cov cai hauv qab no rau koj arduino siv USB cable:

#suav nrog

Servo tsav 1; // Servo Servo servo2; Servo tsav 3; Servo tsav 4; const int pot1 = A0; // Txuas potentimeters const int pot2 = A1; const int pot3 = A2; const int pot4 = A3; teeb tsa tsis muaj dab tsi () {// Teeb tsa txhua yam thiab yuav khiav ib zaug servo1.attach (6); // Txuas cov servos thiab piav qhia tus pin hom servo2.attach (9); servo3.attach (10); cov. servo4.attach (11); Serial.begin (9600); // Pib lub arduino/loop} void loop () {// muab koj cov cai tseem ceeb ntawm no, kom rov ua dua: int pot1Value = analogRead (pot1); // Nyeem qhov tseem ceeb ntawm cov potentiometers int pot2Value = analogRead (pot2); int pot3Value = analogRead (pot3); int pot4Value = analogRead (pot4); int pot1Angle = daim ntawv qhia (pot1Value, 0, 1023, 0, 179); // Qhia qhov tseem ceeb ntawm cov peev txheej ntsuas (0-1023) rau cov ces kaum uas servo tuaj yeem nyeem (0-179 degrees) int pot2Angle = daim ntawv qhia (pot2Value, 0, 1023, 0, 179); int pot3Angle = daim ntawv qhia (pot3Value, 0, 1023, 0, 179); int pot4Angle = daim ntawv qhia (pot4Value, 0, 1023, 0, 179); servo1.write (pot1Angle); // Ua rau servos txav mus rau lub kaum ntse ntse mapped servo2.write (pot2Angle); servo3.write (pot3Angle); servo4.write (pot4Angle); }

Kauj Ruam 16: Peb Ua Tiav lawm

Tig lub potentiometers los tswj tus neeg hlau!

Kauj ruam 17: Teeb meem

Nws tsis txav mus

Nco ntsoov tias lub roj teeb tau qhib thiab Arduino tau ntsaws.

Txheeb ob zaug hauv Circuit kom paub tseeb tias txhua yam raug thiab ntsaws.

Ib qho servo tsis ua haujlwm

Ua ntej, sim tsoo lub khawm pib dua ntawm koj Arduino. Qee zaum servo yuav nres ua haujlwm yog tias peb thawb nws mus dhau.

Cov servo tuaj yeem yooj yim tuag, sim ntsaws cov kab hluav taws xob rau qhov kev pabcuam rau lwm qhov kev pabcuam thiab saib yog tias qhov kev pabcuam tshiab ua haujlwm.

Yog tias nws tsis yog, qhov teeb meem nyob hauv koj li kev siv hluav taws xob.

Servos yog jittery

Koj lub servo tsuas yog yuav ua rau jittery.

Lub servo yuav ua rau hnyav ntau dhau.

Sim ntxiv lub capacitor rau lub zog txuas rau cov servos.