6DOF Stewart Platform: 5 Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:28

6DOF Stewart Platform yog lub platform neeg hlau uas tuaj yeem hais tawm hauv 6 qib ntawm kev ywj pheej. Feem ntau tsim nrog 6 linear actuators, qhov no tau txo qis version siv 6 servos los sim ua cov kab lus ua haujlwm. Muaj peb txoj kev txav mus los x, y, z (ib sab, qhov ntev thiab ntsug), thiab peb qhov kev hloov pauv suab, yob, & yaw.

Stewart platforms feem ntau siv rau kev siv xws li simulators dav hlau, tshuab cuab yeej siv thev naus laus zis, thev naus laus zis thev naus laus zis, tshawb fawb hauv qab dej, cawm cua-rau-hiav txwv, siv tshuab bulls, tso phaj phaj satellite, tsom iav, thiab phais phais.

Qhov version ntawm Stewart platform no yog tswj nrog Arduino Uno microcontroller thiab siv los ntawm 5v fais fab mov.

Cov ntaub ntawv xav tau:

6 servo tsav

Acrylic los yog ntoo

1 Arduino UAS

1 khob cij

Ntau yam capacitors

6 laub khawm

1 joystick module

12 pob sib koom tes thiab 6 txoj hlua xov

6 daim standoff

Kauj Ruam 1: Tsim CAD Cov Ntaub Ntawv

Pib ntsuas qhov ntsuas qhov txuas rau qhov kev pabcuam, thiab cov roj hmab grommet rau xov xov, thiab ua qhov me me loj dua ntawm lub hexagonal polygon. Ntxiv qhov mounting qhov rau standoffs yog xav tau. Nco ntsoov tawm qhov tsim nyog sib nrug kom cov servos tsis sib thawb thaum sib dhos. Qhov kawg tshwm sim (pom saum toj no) yuav tsum haum rau lub cav servo zoo kawg nkaus thiab yuav tsum tsis txhob sawv ntsug los tuav tus qauv ua ke. Luam tawm 4 daim ntawv theej ntawm daim ntawv, 2 yam tsis muaj qhov rau cov roj hmab grommet. Tsis tas li, luam ib daim qauv ntawm daim duab hexagonal, txo qis 70%, tab sis tsis muaj lub qhov rau cov tshuab servo, qhov no yuav yog phaj saum toj kawg nkaus.

Koj tuaj yeem txiav laser lossis 3D luam cov ntaub ntawv no, tab sis kho cov tuab ntawm cov ntaub ntawv kom tsim nyog tias 2 nplooj ntawv yuav txig txig rau qhov siab ntawm qhov txuas rau cov khoom siv.

Kuv siv Adobe Illustrator rau qhov haujlwm no.

Kauj ruam 2: Sib dhos

Pib los ntawm sandwiching servo motors nyob nruab nrab ntawm cov ntawv ntawm acrylic uas peb tau luam tawm hauv qib kawg. ua tib zoo mloog cov xov hlau hla mus, thiab muab cov xov hlau txuas kom zoo rau tom qab. Tom ntej no, cov kua nplaum kub/daim kab xev/teeb tsa lub ntsej muag luv rau acrylic phaj saum toj kawg nkaus ntawm cov duab hexagonal polygon, raws li qhia saum toj no. Nco ntsoov ntxiv me ntsis ntawm kev sib nrug nruab nrab ntawm qhov sawv ntsug.

Sib dhos cov pob sib koom, nco ntsoov lawv yuav tsum yog qhov ntev tib yam. Txuas cov pob txuas rau servo horns suav nrog lub cav servo nrog tus kheej-tho qhov ntsia hlau, siv qhov sib txawv tsim nyog kom cov pob pob qij txha muaj kev ywj pheej tag nrho. Qhia saum toj no.

Thaum kawg, Txuas lwm sab ntawm lub pob sib koom ua ke mus rau qhov sawv ntawm acrylic nrog cov ntsia hlau ib txwm suav nrog hauv pob pob sib koom ua ke. Tom qab ntawd, ntxiv cov servo horns rau cov servos kom nws yuav tsum tsim lub kaum sab xis 90-degree rau sab hauv thaum lub servo nyob ntawm qhov chaw xoom, kho lub pob pob qij txha thiab lub tshuab raj kom haum. Koj tuaj yeem siv lub xov tooj los saib seb lub platform yog qib, qhia saum toj no.

Kauj ruam 3: Electronics

Pib los ntawm kev txuas cov hlua txuas txuas rau cov xov hluav taws xob servo, Kuv nyiam siv cov xim sib xws kom lawv zoo dua. Txuas 5v thiab GND mus rau lub khob cij, thiab lub teeb liab (pwn) tus pin rau Arduino Uno hauv tus pin 3, 5, 6, 9, 10, 11. Ntxiv cov nyees khawm rau lub khob cij, nrog xaim rau 5v, tiv thaiv rau GND ntawm lwm sab, thiab lub teeb liab xa mus rau tus lej digital ntawm Arduino. Cov no yuav tswj teeb tsa cov lus txib rau lub platform. Txuas ntxiv los ntawm ntsaws rau hauv lub joystick module, 5v, thiab GND rau lub khob cij, X thiab Y tso tawm rau cov tswv yim sib piv. Qhov no yog lub ntsiab joystick tswj rau lub platform.

Sawb tus USB cable, siv lub hwj chim thiab GND xov hlau thiab txuas lawv rau jumper cables, uas txuas rau lub hwj huam khawm ntawm lub khob cij. Qhov USB no yuav txhawb lub zog los ntawm lub txhab nyiaj hluav taws xob. Ntxiv cov khoom siv sib txuas rau lub zog fais fab ntawm lub khob cij, nco ntsoov cov pins zoo thiab tsis zoo. Cov capacitors no pab cov servos khiav vim lawv rub ntau qhov tam sim no, thiab cov capacitors yuav them thiab tso tawm cov pa tawm los pab qhov ntawd.

Kauj ruam 4: Programming

Kuv yuav tsis mus rau qhov tob ntawm txoj haujlwm ntawm qhov haujlwm no vim tias qhov muaj peev xwm tsis muaj qhov kawg, tab sis koj yuav tsum pib los ntawm kev txav cov servo caj npab thiab tau txais kev nkag siab yuav ua li cas hais tawm lub platform tom qab teeb tsa servos hauv ntau txoj haujlwm dhau los ntawm Arduino txuas ntxiv nrhiav txoj hauv kev los tswj lub platform.

Kauj ruam 5: Nrog koj zoo siab

Koj nyuam qhuav tsim koj lub platform stewart! Hmoov zoo! Qhov muaj peev xwm tsis muaj qhov kawg!