Trackbot Mk V: 8 Kauj Ruam (nrog Duab)

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

Kuv xav hloov kuv lub xov tooj cua qub tswj cov neeg hlau uas kuv tau coj mus rau yav dhau los Maker Faires (https://makershare.com/projects/robot-driver-license). Kuv tau txav deb ntawm Vex qhov chaw mus rau Servo City Actobotics qhov chaw - lawv sib zog thiab ntau yam ntxiv. Nov yog qhov tsim tshiab los ntawm hauv av. Kuj tseem muab sijhawm rau kuv los xyaum ua txuj ci tshiab - hmoov txheej thiab txiav ntawv hlau.

Nco tseg- hloov kho Lub Yim Hli 5 2018 nrog cov cav sib txawv

Kauj ruam 1: Cov ntaub ntawv

Cov khoom tsim

• Actobotics 10.5 "Channel (2)
• Actobotics 6 "Channel (2)
• Actobotic Txawv Phaj 4.5 "x 6"

• Actobotics 6-32 Xov, 1/4 OD Round Aluminium Standoffs

  • 0.25 "(8) (rau mounting daim hlau)
  • 0.5 "(1) (rau lub roj teeb tuav)
  • 0.625 "(1) (rau Wago 3-qhov txiv ntoo)
  • 0.875 "(2) (rau nylon bushings)
  • 1.0 "(1) (rau Wago 5-qhov txiv ntoo)
  • 1.32 "(4) txhawm rau txhav cov channel ntawm cov ntsiab lus qag
  • 2.5 "(1) (rau tus tuav lub RC)
• Actobotics 90 ° Dual Sab Mount D (13)
• Actobotics 90 ° Dual Sab Mount A (4) (rau saum phaj qauv)
• Actobotics Beam Bracket A (rau lub roj teeb tuav)
• Actobotics 3.85 "(11 qhov) Aluminium Beams (2)
• Cov phaj hauv qab (8 15/16 "square) nyias txhuas
• Roboclaw mounting phaj
• Voltage stepper mounting phaj
• Qhov (socket) lub taub hau 6/32 screws (ntau qhov ntev)
• Khawm taub hau 6/32 screws (ntau qhov ntev)
• Actobotics Ib Leeg Ntsia Hlau Phaj (4)
• Assorted ntxhua khaub ncaws thiab xauv txiv ntoo
• 3D-luam Bumpers (https://www.thingiverse.com/thing:2787548)

Tsab ntawv tsa suab

• Lynxmotion Modular Track System (MTS) 2 "txoj kab dav (xav tau 29 txuas x 2 - xav tau xaj 3 txoj kab ntawm 21 txuas kom muaj txaus)
• Lynxmotion MTS 12T Sprocket (6mm Hub) (4)
• Servo City 98 RPM Economy Gear Motor (2) (Nco tseg: thaum xub thawj siv 195 RPM hwm lub ntiaj teb cov iav motors tab sis lawv tsis tau muaj lub zog txaus kom tig rau qhov chaw, tom qab ntawd kuv tau sim 52 RPM hwm lub ntiaj teb cov iav iav motors. Torque tau zoo dua, tab sis qeeb qeeb. Kuv tau txiav txim siab ntawm cov no kom nrawm dua thiab txawm tias lub zog zoo dua)
• Actobotics Iav Lub Cev Muaj Zog Lub Rooj Tsav Xwm C (2)
• Actobotics Txhuas Tsav Tsheb Mount F (2)
• Actobotics Teeb Ntsia Hlau Ncej Couplers 0.250 "mus rau 4mm (2)
• Actobotics 0.250 "(1/4") x 3.00 "Stainless Hlau D-Shafting (2)
• Actobotics 0.250 "(1/4") x 2.00 "Stainless Hlau D-Shafting (2)
• Actobotics 1/4 "ID x 1/2" OD Flanged Pob Bearing (6)
• Actobotics Aluminium Teeb Ntsia Hlau Dab tshos 0.25 "(6)
• Actobotics Shafting thiab Tubing Spacers 0.25 "(10)
• Lynxmotion nylon bushings (txiav ntev rau me me - tsuas yog qis dua 7/8 ") (2)

Claw

• saib

  Nco tseg: Kuv hloov kho qhov no ntau xyoo dhau los rau 7V zam kev pabcuam. Main servo yog Hitec HW-5685MH. Tsis paub meej tias micro-servo yog dab tsi-Kuv nyeem tsis tau daim ntawv lo. Zoo nkauj heev nws yog Hitec

Electronics

• RoboClaw 2x7 Motor Controller (los ntawm Servo City)
• DFRobot Romeo v2.2 microcontroller
• 3D-luam tawm Romeo mounting phaj (https://www.thingiverse.com/thing:1377159)
• Stepdown Buck voltage converter (Amazon
• Wago Lever ceev (los ntawm Amazon)
• Liab-dub xaim (los ntawm) (los ntawm PowerWerx.com)
• Anderson Fais Fab (los ntawm PowerWerx.com)
• DPST Heavy Duty Latching Toggle Hloov (los ntawm Lub Nroog Servo)
• Turnigy Nano-tech 3.3 3300 mAh 3S LiPo roj teeb (11.1v) (los ntawm Hobby King)
• 3D-luam RC tuav (https://www.thingiverse.com/thing:2779003)

Kauj Ruam 2: Yooj Yim Ncej

Thawj daim duab yog qhov hauv qab. Ua ib lub xwmfab nrog cov Actobotics channel. Nco ntsoov tias lub nraub qaum tsis nyob tom nraub qaum, kom tso chaw rau lub cav. Tsis tas li nco ntsoov tias nws muaj qhov qhib ib sab ntsib dab tsi yuav tshwm ntawm tus neeg hlau- lub roj teeb yuav mus ntawm no. Cov khoom sib dhos tau ntxiv rau hauv qab phaj thiab phaj saum toj kawg nkaus.

Actobotics channel thiab lwm daim yog hmoov txheej ntawm TechShop St. Louis (ua ntej nws muab tais).

Kauj Ruam 3: Cov Motors thiab Sprockets

Cov hubs ntawm cov sprockets yog 6 hli. Kuv yuav tsum tau laum lawv kom haum rau 0.25 qag. Kuv siv flanged pob bearings los txhawb nqa lub qag. Cov hmoov txheej ntawm tus thav duab tau ua rau haum nruj heev, yog li kuv yuav tsum xa nws tawm. teeb ntsia hlau dab tshos (1 txhua) thiab taug qab cov hubs (2 txhua tus) los ntawm kev cuam tshuam nrog cov kabmob pob.

Lub taub hau kawg lub taub hau tau luam tawm 3D. Muaj nyob rau hauv qhov chaw los ntawm ib lub tshuab ntsia hlau; ib lub phaj ntsia hlau txuas rau hauv qhov chaw hauv daim ntawv kawg-hau.

Kauj ruam 4: Mounting Claw

Qhov me me tau txiav los ntawm 0.125 "txhuas txhawm rau txhawm rau qhov sib txawv hauv lub hauv paus claw (qhov twg servo tuaj yeem mus-saib https://www.instructables.com/id/Robotics-Claw-Mounting-Bracket/). Kuv kuj txiav los ntawm thinner (0.063 ") txhuas phaj saum toj thiab hauv qab. Sab saum toj phaj yog hmoov txheej kom phim tus ncej. Cov phaj hauv qab tau txiav kom haum rau sab hauv. Kuv cim qhov twg qhov yuav tsum tau ua nrog tus cim zoo thiab tom qab ntawd nrog cov ntawv xovxwm. Raws li koj tuaj yeem pom kev sib dhos tsis zoo tag nrho - yuav tsum txuas ob peb lub qhov nrog cov ntawv. Nrog 5 tus ntsia hlau, tus claw tau khov kho heev.

Kauj Ruam 5: Mounting Electronics

Cov khoom siv hluav taws xob tau teeb tsa rau 4.5 "x 6" phaj, uas nyob rau hauv lem tau teeb tsa rau cov kab zauv ntawm tus ncej.

Romeo lub rooj tsavxwm tau teeb tsa ntawm daim ntawv luam tawm 3D.

Lub cev muaj zog tswj tau teeb tsa rau ntawm daim phiaj txiav (0.0375 txhuas - hmoov txheej). Cov hlais tau txiav kom ntxhib sib xws qhov twg lub roob uas tuaj nrog lub tshuab tswj tau nyob. Lawv nyob me ntsis (txiav nrog txiav lub log ntawm Dremel), tab sis tsis muaj leej twg yuav pom nws qhov twg nws tau teeb tsa. Tus tswj lub cev muaj zog tau nce me ntsis ntawm 0.25 sawv-tawm kom tso cai rau qee qhov cua hauv qab.

Kuv tau pib siv Wago qib txiv ntseej rau kev faib hluav taws xob. Kuv siv qhov kev sawv ntsug nrog lub tshuab ntxhua khaub ncaws saum toj kom khaws ob khub ntawm cov txiv ntseej los ntawm kev nqes los thaum neeg hlau sab xis nce. Tsuas yog zip-khi txhawm rau txuas ob lub txiv ntoo kom sawv ntsug. Qhov zoo ntawm cov txiv ntoo muab lub v-groove zoo thaum ib khub raug kaw ua ke nrog daim kab xev ob tog.

Kuv tsis tshua nyiam cov zaub ntawm tus lej hloov pauv hloov pauv (nkim hluav taws xob), tab sis kuv xav kom ntseeg tau tias kuv muaj ib qho uas tuaj yeem tswj tau tam sim no txaus rau Romeo pawg thawj coj thiab cov servos. Tus hloov pauv hloov 11.1V los ntawm roj teeb mus rau 7V rau lub rooj tsavxwm thiab rau servos (ib yam kuv nyiam txog Romeo yog tias nws muaj lub zog cais cais avialble rau servos). Nws nyob ntawm 0.019 txhuas phaj txiav kom haum rau qhov chaw muaj.

Cov xov hluav taws xob tau hla los ntawm cov channel, thiab nce los ntawm qhov hauv cov phaj mounting rau Romeo thiab lub cev muaj zog tswj. Kuv xaim hauv qhov yooj yim toggle hloov rau on/off tswj.

Cov roj teeb hauv qab tsuas yog nws thav duab channel mounted qhib-sab saum toj. Kuv muab tso rau hauv ib daim neoprene ua npuas ncauj ua rau poob siab. Nws tsuas yog kub-glued nyob rau hauv.

RC tus txais tau luam tawm 3D thiab tom qab ntawd muab tso rau sab saum toj ntawm qhov sawv ntsug. Kuv tau ua kuv tus kheej txuas cov hlua, tab sis koj tsuas tuaj yeem siv cov xov tsis tu ncua nrog poj niam xaus..

Kauj Ruam 6: Hauv Qab Phaj

Cov phaj hauv qab tau txiav los ntawm 0.0375 "txhuas. Nws tau tsim los tiv thaiv" sab hauv "ntawm cov neeg hlau. Txhim kho ntawm cov txuas txuas rau hauv qab ntawm tus ncej (saib cov duab hauv ntu ntu). Tsis muaj dab tsi txuas rau hauv qab phaj. lem tau muab tso rau.

Kauj ruam 7: Khiav

Kuv ntxiv nylon bushings hla standoffs coj nruj nyob rau hauv cov ciav hlau - qhov sib nrug yog empiric. Lynxmotion taug kev tau sib sau ua ke tshwj tsis yog txuas qhov kawg, tom qab ntawd muab tso rau hauv sprockets nyob nruab nrab ntawm txoj kab.

Kauj Ruam 8: Cov Lus Kawg

Zuag qhia tag nrho neeg hlau ua haujlwm zoo. Lub cev muaj zog tshiab tshaj plaws yog qhov sib haum tsim nyog ntawm kev nrawm thiab lub zog. Ib txoj haujlwm lom zem zuag qhia tag nrho.