Qhib Source Delta Robot: 5 Cov Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:27

Taw qhia:

Hauv qhov kev qhia no peb yuav tau xaiv thiab tso Tshuab raws li qhov no yog qhov siv ntau tshaj plaws rau cov neeg hlau nyob rau hauv kev lag luam dua li cov tshuab luam ntawv 3d. Txoj haujlwm no coj kuv lub sijhawm me ntsis los ua kom tiav thiab nyuaj heev, nws suav nrog:

• Mechanical design thiab feasibility check
• Prototyping thiab ua ntawm cov neeg kho tshuab qauv
• Hluav taws xob thaiv
• Kev txhim kho software thiab cov neeg siv graphical interface
• Txhim kho lub zeem muag khoos phis tawj rau tus neeg hlau tshuab (tseem xav tau koj kev pab hauv ntu no

Kauj Ruam 1: Tsim Kho Khoom Siv:

Ua ntej kuv pib ua tus neeg hlau kuv tsim nws ntawm fusion 360 thiab ntawm no yog tus Qauv 3d, Cov phiaj xwm thiab cov ntsiab lus:

fusion 3d qauv ntawm delta Robot nrog qhov txuas no koj yuav tuaj yeem rub lub qhov 3d qauv.

nws yog qhov zoo dua kom tau txais qhov tseeb qhov tseeb los ntawm tus qauv 3D raug qhov ntawd.

Kuj PDF cov ntaub ntawv ntawm cov phiaj xwm muaj nyob ntawm kuv qhov blog project nplooj ntawv rau rub tawm ntawm

Xaiv qhov ntev raws li kuv tus stepper lub cev muaj zog siab tshaj plaws lub zog tau nyuaj me ntsis.i thawj zaug sim nema 17 uas tsis txaus yog li kuv tau hloov kho nema 23 thiab ua rau tus neeg hlau me dua me ntsis tom qab siv tau nrog suav nrog raws li nema 23 tus qauv lub zog hauv cov ntaub ntawv yog li Kuv pom zoo yog tias koj yuav siv lwm qhov kev ntsuas koj siv tau lawv ua ntej.

Kauj ruam 2: Sib dhos:

3d luam ntawv STL cov ntaub ntawv muaj rau rub tawm ntawm kuv lub vev xaib nplooj ntawv qhov project

Pib los ntawm 3d luam ntawv txuas tus pas nrig thiab qhov cuam tshuam kawg. Tom qab ntawd siv ntoo lossis hlau rau lub hauv paus Kuv pom zoo nws CNC txiav rau qhov zoo ib yam li koj yuav tsum tau rau caj npab Kuv ua rau lawv los ntawm alucobond cov khoom siv siv rau tom khw muag khoom nws tau ua los ntawm cov roj hmab sandwiched ntawm ob daim ntawv txhuas nyias 3mm tuab.

Tom ntej no peb yuav tsum ua haujlwm ntawm L zoo li tus hlau txhawm rau txhawm rau cov steppers, txiav rau 100mm thiab qhov drilled kom nce cov steppers (hint: koj tuaj yeem ua rau lub qhov dav kom tuaj yeem tuaj yeem siv txoj hlua khi)

Tom qab ntawd cov xov 6 hli Ø pas nrig, rau qhov txuas ntawm caj npab 400mm ntev yuav tsum tau txiav tom qab ntawd xov lossis kub glued rau pob sib koom Kuv tau siv lub jig no kom ntseeg tau tias lawv txhua tus muaj qhov ntev tib yam nws yog qhov tseem ceeb heev rau cov neeg hlau ua kom sib luag.

Thaum kawg 12 mm Ø pas nrig yuav tsum tau txiav txog li 130mm hauv qhov ntev los siv rau qhov pivot taw tes ntawm tus neeg hlau txuas nrog 50mm Ø pulley.

Tam sim no txhua qhov chaw tau npaj tiav koj tuaj yeem pib sib sau ua ke txhua yam uas ncaj nraim rau hauv raws li pom hauv cov duab nco ntsoov koj xav tau qee yam kev txhawb nqa zoo li lub paj liab uas kuv tau siv los tuav tau txhua yam, zoo dua qhov kuv tau ua hauv part2 yees duab = D.

Kauj Ruam 3: Tshooj Hluav Taws Xob:

Rau cov khoom siv hluav taws xob nws zoo li txuas lub tshuab cnc raws li peb yuav tsav tus neeg hlau nrog GRBL. (GRBL yog Qhov qhib qhov chaw, kos, ua tau zoo g-code-parser thiab CNC milling maub los sau hauv qhov ua tau zoo C uas yuav ua haujlwm ntawm ncaj Arduino

Tom qab thaiv cov steppers, cov tsav tsheb thiab cov arduino, Tam sim no yuav siv D13 tus pin ntawm arduino los qhib lub 5V txuas uas ua rau lub tshuab nqus tsev, Kuv tau xaiv rau 12v lub twj tso kua mis kom nyob twj ywm thiab pab kom nqus nrog 2/3 pneumatic valve li Kuv muaj ib tug pw ib ncig.

Kuv suav nrog daim duab hluav taws xob txuas hluav taws xob tiav thiab kuv teeb tsa tag nrho kuv tus tsav tsheb mus rau 1.5A thiab 1/16 qib kev daws teeb meem.i muab txhua yam tso rau hauv rooj plaub pc qub raws li lub thawv

Kauj ruam 4: Software:

Qhov tseem ceeb peb yuav tsum ua yog teeb tsa GRBL los ntawm rub tawm/cloning nws los ntawm nws Github chaw cia khoom Kuv tau siv 0.9 version tab sis koj tuaj yeem hloov kho rau 1.1 (Txuas: https://github.com/grbl/grbl). Ntxiv cov tsev qiv ntawv rau arduino cov tsev qiv ntawv cov ntawv tais ceev tseg thiab rub nws mus rau koj cov arduino.

Tam sim no GRBL nyob ntawm peb cov arduino txuas rau nws, qhib cov ntawv xov xwm thiab hloov qhov txiaj ntsig yav dhau los raws li qhia hauv daim duab kom phim koj cov txheej txheem neeg hlau:

Kuv siv 50mm thiab 25mm pulley => 50/25 = 1/2 txo thiab 1/16 qib kev daws teeb meem yog li 1 ° kaum sab xis yog 18 kauj ruam/°

Tam sim no tus neeg hlau npaj tau txais gcode cov lus txib zoo li hauv daim ntawv demo.txt:

M3 & M4 ==> qhib / qhib lub tshuab nqus tsev

X10 ==> txav stepper X mus rau 10 °

X10Y20Z -30.6 ==> txav stepper X rau 10 ° & Y mus 20 ° thiab Z rau -30.6 °

G4P2 ==> Tos ob vib nas this (ncua)

Txog tam sim no nrog txhua tus xa gcode koj tuaj yeem ua nws rov ua dua cov haujlwm uas tau npaj ua ntej zoo li khaws & tso.

Kauj Ruam 5: GUI thiab Ua Duab:

Txhawm rau kom tuaj yeem ua raws kuv ntawm qhov no koj yuav tsum tau saib kuv cov vis dis aus piav qhia txog GUI, mus dhau ntawm cov lej & tus interface:

GUI tau tsim nrog Visual Studio 2017 dawb Community version, Kuv tweaked cov cai los ntawm https://forums.trossenrobotics.com/tutorials/introduction-129/delta-robot-kinematics-3276/ rau kinematics laij los txiav txim nws txoj haujlwm. Lub tsev qiv ntawv EmguCV rau kev ua cov duab thiab lej yooj yim kom txav mus rau qhov ua kom kawg mus rau txoj haujlwm ntawm lub raj mis lub kaus mom kom xaiv lawv thiab tso lawv yog txoj haujlwm ua ntej.

Koj tuaj yeem rub tawm daim ntawv thov lub Windows los sim nrog tus neeg hlau los ntawm kuv lub chaw khaws ntaub ntawv github lossis txhua qhov ntawm qhov chaws thiab pab kuv txhim kho nws vim nws xav tau kev ua haujlwm ntau dua thiab debugging. Mus ntsib nws thiab sim daws teeb meem nrog kuv lossis muab tswv yim tshiab qhia nws rau cov neeg uas tuaj yeem pab tau. Kuv thov koj qhov kev koom tes ntawm txoj cai thiab txhawb nqa kuv hauv txhua txoj kev uas koj tuaj yeem ua tau.

Tam sim no kuv ua koj tsaug rau kev tshuaj xyuas qhov haujlwm txaus no thiab nyob twj ywm kom paub ntau ntxiv

Ua raws kuv ntawm: