Cov txheej txheem:
- Kauj Ruam 1: Qhov Chaw
- Kauj ruam 2: 3D Qhov
- Kauj Ruam 3: Chassis Los Ua Ke Tshooj 1
- Kauj Ruam 4: Chassis Los Ua Ke Tshooj 2
- Kauj Ruam 5: Log Los Ua Ke
- Kauj Ruam 6: Txuas kab
- Kauj Ruam 7: Stepping Stepper
- Kauj ruam 8: Servo
- Kauj ruam 9: Calibration
- Kauj ruam 10: Teeb duab
- Kauj ruam 11: Tam sim no Dab tsi? Cov ntawv kawm
- Kauj Ruam 12: Tab sis Tos, Muaj Ntau
Video: DFRobot Turtle Robot: 12 Kauj Ruam (nrog Duab)
2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:29
Txog rau hnub tim, kuv cov phiaj xwm phiaj xwm neeg hlau tau tsav mus rau tus nqi qis thiab yooj yim ntawm kev sib dhos. Yuav ua li cas yog qhov ua tau zoo thiab raug yog lub hom phiaj, thiab tsis raug nqi? Yuav ua li cas yog tias lub tuam txhab cov khoom siv neeg hlau txaus siab muab khoom pub dawb? Thiab yuav ua li cas yog tias peb kos nrog lwm yam uas tsis yog tus cim?
Yog li, lub hom phiaj ntawm txoj haujlwm no yog txhawm rau ua kom tus Tsov tus Tsov tus Tsov tus tw raug siv los ntawm cov khoom seem uas yuav kos qee yam txaus siab rau tom ntej Maker Fair.
Vaub kib!
Kauj Ruam 1: Qhov Chaw
DFRobot muab cov khoom tseem ceeb. Nov yog yam peb siv:
- 1 ea., Bluno M0 Mainboard, SKU: DFR0416 lossis ib txwm Arduino Uno
- 1 ea., Dual Bipolar Stepper Motor Shield rau Arduino (DRV8825), SKU: DRI0023
- 2 ea., Hybrid Stepper Motor, SKU: FIT0278
- 1 ea., 5mm Rubber Wheel Coupling Kit (Pair), SKU: FIT0387
- 1 ea., 9G servo SKU: SER0006
Txog lub zog, Kuv yuav siv 18650 Lithium cells, yog li kuv yuav:
- 3 ea., EBL 18650 Roj teeb 3.7V
- 1 lub hlis, KINDEN 18650 Ntse Roj Teeb Charger
- 3 ea., 18650 Tus Tuav Roj Teeb
Kuv kuj siv qee yam kho vajtse ntau yam:
- 2 ea., Buna-N Roj Hmab #343 O-Ring (3/16 "x 3-3/4" ID)
- 1 ea., 1 "low-carbon steel ball bearing
- 10 ea., M3x6MM Yias taub hau taub hau
- 2 ea., M3x8MM Yias taub hau taub hau
- 4 ea., M3x6MM Flathead ntsia hlau
- 1 4m3, ua
- 4 ea., #2 x 1/4 thread-forming screw
Peb tseem yuav xav tau txoj hauv kev muaj tswv yim los qhia lub zog roj teeb ntawm Motor Shield thiab Arduino vim tias tsis zoo li kev pab rau qhov ntawd. Kuv siv 2.1mm x 5mm chim jack kawg ntawm lub hwj chim tuag, lossis qee yam zoo li no.
Cov Cuab Yeej:
- Phillips taub hau ntsia hlau tsav tsheb
- Cov hlua hlau
- Kub kua nplaum phom (yeem)
- Soldering hlau & solder
Thiab tsis tsawg kawg ntawm qhov uas:
- Ua siab ntev
- Zam txim
- Tus Cwj Pwm Zoo
Kauj ruam 2: 3D Qhov
Kuv txiav txim siab sim thiab tsim txhua qhov 3D hauv FreeCad rau tus neeg hlau no los pab kuv kawm. Txhua yam kuv yuav tsum tau ua yog hloov qhov ntev rau qhov kev pabcuam servo thiab tus cwj mem, thiab tom qab ntawd ntsuas qhov seem kom haum rau cov steppers loj dua.
- Cov log loj dua los muab kev tshem tawm rau cov roj teeb.
- Lub cev tuab dua los muab lub zog rau qhov hnyav nce.
- Cov neeg loj dua kom haum rau qhov siab lawj tsa.
- Modular rau kev sim yooj yim thiab kho kom haum.
Nov yog daim uas koj xav tau. Txhua cov ntaub ntawv muaj nyob ntawm
- 1a, cev
- 1 ea., Top zog
- 2 e., Cev
- 1 e, cev
- 1ea, servo tus tuav
Kauj Ruam 3: Chassis Los Ua Ke Tshooj 1
- Pib los ntawm kev ntxig M3 txiv ntoo rau hauv qhov chaw nres tsheb. Lawv tuaj yeem raug nias rau hauv, lossis rub los siv M3 ntsia hlau.
- Mount lub steppers nrog M3 screws nrog cov khoom siv hluav taws xob tig mus rau sab nraub qaum (luv dua) kawg.
- Mount cov roj teeb uas siv lub taub hau ncaj.
Kauj Ruam 4: Chassis Los Ua Ke Tshooj 2
- Mount lub thoob, sab saum toj, thiab servo ua ke nrog M3 ntsia hlau thiab txiv ntoo.
- Mount qhov sib xyaw ua ke saum toj kawg nkaus rau cov steppers nrog M3 ntsia hlau.
- Ntxig cov hlau coj los rau hauv tus tuav lub caster, ua kom sov nws nrog cov plaub hau qhuav yog tias tsim nyog los ua kom nws muag.
- Mount tus caster rau lub cev siv M3 ntsia hlau.
Kauj Ruam 5: Log Los Ua Ke
- Tau txais cov hubs los tuav tus ncej yog qhov teeb meem vim tias cov hlua yog 5 hli thiab lub hauv paus (uas thov kom yog rau 5 hli) yog qhov tseeb 6 hli. Kev siv lub zog txaus ntawm cov ntsia hlau clamp yog qhov yuav ua rau lawv tawm, yog li kuv tau siv ob khub ntawm lwm tus tuav kom kaw qhov ua siab ntev ua ntej.
- Tom qab kho qhov ua siab ntev, swb lub hub ntawm tus ncej stepper thiab ua kom nruj clamping screws.
- Muab lub log 3D tso rau ntawm lub hub, ntxig rau ntsia hlau loj, thiab ua kom nruj.
- Muab O-ring hla lub hub.
- Ua kom ntseeg tau tias lub log tig yam tsis txav. Kho yog tsim nyog.
Kauj Ruam 6: Txuas kab
Cia peb tau txais lub zog tawm ntawm txoj kev yog li peb tuaj yeem sim cov steppers. Peb xav tau:
- Stepper shield yuav tsum nyob nruab nrab ntawm 8 thiab 35V los khiav cov steppers.
- Cov steppers tau ntsuas rau 3.4V, tab sis feem ntau yog tsav los ntawm 12V.
- Bluno (Arduino) muaj qhov pom zoo tso hluav taws xob ntawm 7 - 12V, lossis tuaj yeem siv ncaj qha los ntawm 5V USB.
Cov roj teeb lithium roj teeb muaj qhov ntsuas hluav taws xob ntawm 3.7V. Yog tias peb tso peb hauv kab, uas muab rau peb 3 x 3.7V = 11.1 V thiab kwv yees li 3 x 3000 mAh = 9000 mAh. Bluno tej zaum tsuas yog rub 20 mA xwb, yog li feem ntau ntawm cov dej ntws yuav los ntawm cov steppers, uas tuaj yeem kos mus rau amp lossis ntau dua nyob ntawm qhov thauj khoom. Qhov ntawd yuav tsum muab sijhawm teev sijhawm rau peb.
Rau kev sim, koj tuaj yeem muab 12V tswj hwm rau daim ntaub thaiv thiab 5V USB rau Arduino. Nws yuav yooj yim dua rau tsuas yog xaim cov roj teeb kom muaj zog ob leeg tib lub sijhawm.
- Solder cov neeg tuav lub roj teeb ua ke raws li daim duab.
- Mount Arduino siv #2 xov tsim cov ntsia hlau.
- Muab lub cav thaiv rau saum Arduino
-
Sawb qhov khaws 2.1 mm x 5 mm jack xov hlau thiab ntswj lawv ua ke nrog lub roj teeb ua:
Cov kab dawb yog qhov zoo, ntsaws nrog cov roj teeb liab
- Ntxig cov hlau lead liab hauv VCC thiab cov hlau lead dub hauv GND ntawm lub cav thaiv.
Kauj Ruam 7: Stepping Stepper
Kuv muaj teeb meem me ntsis ntawm daim ua ke cov ntaub ntawv txaus kom ua tiav qhov no, yog li cia siab tias qhov no yuav pab lwm tus. Cov ntaub ntawv tseem ceeb koj xav tau yog ntawm
Txuas lub stepper xov hlau thiab lub zog xa mus rau koj daim ntaub thaiv:
- 2B Xiav
- 2A Liab
- 1A Dub
- 1B Grenn
Cov duab piv txwv muab ua haujlwm rau kuv, tab sis tsis yog qhia ntau dhau. Peb yuav tsum tau tswj kev nrawm thiab kev hloov pauv ntxiv nrog rau tso cov stepper motors thaum tsis siv los cawm lub zog.
Kuv pom qhov hloov pauv piv txwv los ntawm https://bildr.org/2011/06/easydriver/ uas muaj cov haujlwm pabcuam. Nws tsuas yog tsav ib tus stepper ntawm ib lub sijhawm, tab sis yuav ua rau koj muaj kev ntseeg siab peb nyob ntawm txoj hauv kev. Peb yuav sau qee cov cai ntxiv tom qab.
Kauj ruam 8: Servo
Lub servo yog siv los tsa thiab txo tus cwj mem rau kev kos duab.
- Muab caj npab tso rau ntawm lub hub thiab maj mam tig lub stepper rov qab-clockwise saib rau nws kom txog thaum nws mus txog qhov nres.
- Tshem caj npab thiab tso nws tig mus rau sab laug (qhov no yuav yog txoj haujlwm qis).
- Ntxig cov xov me me ua cov ntsia hlau thiab ua kom nruj.
- Ntxig lub servo rau hauv lub mount nrog lub hub kawg nce thiab txuas siv ob lub xov loj-tsim cov ntsia hlau.
Kauj ruam 9: Calibration
Vim tias muaj kev hloov pauv hauv kev sib dhos thiab ua kom sib haum, tus neeg hlau yuav tsum tau ntsuas kom nws tuaj yeem txav mus deb qhov tseeb thiab cov ces kaum.
- Ntsuas lub log txoj kab nruab nrab los ntawm sab nrauv ntawm cov roj hmab o-ring.
- Ntsuas lub logbase los ntawm nruab nrab ntawm o-rings nyob hauv qab ntawm tus neeg hlau (qhov uas nws yuav tiv toj rau hauv pem teb).
- Download tau txuas nrog daim duab kos
- Sau koj cov ntsuas ntsuas.
- Upload daim duab..
Npaj tus cwj mem:
- Tshem lub hau thiab xaub lub dab tshos los ntawm sab taub hau.
- Ntxig tus cwj mem rau hauv tus tuav nrog servo caj npab ncaj ncaj.
- Xyuas kom tus cwj mem tsis kov daim ntawv hauv txoj haujlwm no.
- Yog tias tus cwj mem khi rau hauv tus ncej, peb cov ntaub ntawv tshem tawm qhov ntxhib thiab ua kom lub qhov tob tob.
Kos ib lub xwmfab:
- Xaub lub zog hloov mus rau "On".
- Tos ob peb feeb rau lub bootloader pib.
- Tom qab tus neeg hlau ua tiav nws thawj lub xwmfab, tshem tus cwj mem thiab tig lub neeg hlau tawm.
Kho lub log_dia qhov ntsuas ua ntej. Ntsuas qhov ntev ntawm ib sab ntawm lub xwmfab. Nws yuav tsum yog 100 hli:
- Yog tias qhov ntsuas nrug deb dhau, nce log_dia.
- Yog tias qhov ntsuas nrug deb dhau, txo wheel_dia.
Tom qab koj muaj qhov ntsuas ntsuas qhov deb, kho lub log_base qhov ntsuas uas cuam tshuam rau lub kaum sab xis ntawm qhov tig. Muab tus neeg hlau tso rau ntawm daim ntawv tshiab, tig nws thiab cia nws kos tag nrho plaub lub xwmfab:
- Yog tias tus neeg hlau tig nrawm heev (lub npov tau tig raws lub moos), txo tus nqi log_base.
- Yog tias tus neeg hlau tsis tig nrawm txaus (lub thawv tig rov qab-clockwise), nce tus nqi log_base.
- Vim tias kev hloov pauv tsis raug ntawm tus lej hla mus thiab hla hauv lub zog ntawm cov steppers pheej yig, koj yuav tsis tau txais nws zoo meej, yog li tsis txhob siv dag zog ntau dhau rau nws.
Kauj ruam 10: Teeb duab
Lub sijhawm los ua qee yam duab! Rub tawm cov kab kos txuas rau muab rau koj pib.
Kauj ruam 11: Tam sim no Dab tsi? Cov ntawv kawm
Nws ua haujlwm thiab kos cov duab zoo. Tam sim no kev lom zem pib.
Nov yog ob peb qhov peev txheej rau kev kawm duab vaub kib.
- https://blockly-games.appspot.com/ (thaiv lub cajmeem)
- TinyTurtle Tutorial (JavaScript)
- Code nrog Anna thiab Elsa los ntawm Teev Sijhawm
Kuv kuj tau tshaj tawm Cov Lus Qhia txog kev siv tus neeg hlau vaub kib cov peev txheej no hauv online nrog Turtle Robot. Feem ntau, ib qho Turtle JavaScript code tuaj yeem muab tso thiab ua haujlwm hauv qhov ntsuas qhov ntsuas. Koj tuaj yeem ntsuas qhov tso tawm online ntawm lub khoos phis tawj ua ntej thiab tom qab ntawd muab tso rau hauv koj lub vaub kib kom kos tawm hauv lub neej tiag!
Rau cov tub ntxhais kawm, ntawm no yog ob peb lub tswv yim qhov project:
- Program koj tus neeg hlau sau koj lub npe!
- Tsim thiab 3D luam daim ntawv cim npe hauv TinkerCad los ntawm tus qauv. Nws tuaj yeem txuas nrog hauv qab koj lub servo motor.
- Muab koj tus neeg hlau qee tus cwj pwm nrog qee cov kua nplaum kub thiab bling. (Tsuas yog khaws lub log thiab lub qhov muag kom pom ntawm qhov thaiv).
- Los ntawm OSTR_eyes kos duab, tsim thiab ntsuas qhov txheej txheem kom mus rau chav. Koj ua dab tsi thaum ib lub qhov muag pom qee yam. Ob lub qhov muag? Koj puas tuaj yeem koom nrog Arduino qhov kev ua haujlwm random ().
- Tsim kev tshawb nrhiav ntawm daim ntawv loj ntawm daim ntawv hauv av thiab teeb tsa koj lub neeg hlau kom taug kev los ntawm nws.
- Ua lub maze nrog cov phab ntsa thiab tsim cov txheej txheem kom coj nws mus.
- Lub pob nyob nruab nrab ntawm cov LEDs tseem tsis tau siv los, thiab txuas nrog Arduino tus pin "A3". Nws tuaj yeem siv rau dab tsi? Siv nws los qhib lub LED thiab tua kom pib nrog.
- Yog tias koj tsis tau ua ntu Kev Tshawb Fawb ntawm "Firmware (FW): Kuaj thiab Blinking", rov qab thiab sim nws.
Kauj Ruam 12: Tab sis Tos, Muaj Ntau
Yog tias koj tau ua tib zoo mloog, koj pom tias lub thoob yog plaub fab. Los ntawm qee qhov txawv txawv cosmic coincidence, pastel artist chalk yog qhov dav ib yam li txoj kab uas hla ntawm Crayola cov cim. Txhua yam peb xav tau yog ib txoj hauv kev tso lub siab txaus rau hauv cov chalk, thiab peb yog cov kws ua yeeb yam taug kev.
Koj yuav xav tau:
- 3D luam ntawv chim thiab ram (https://www.thingiverse.com/thing:2976527)
-
Chalk, xws li cov duab plaub fab pastel chalk lossis cov chalk me me puag ncig (tsis yog cov khoom ntawm txoj kev taug kev rog).
https://a.co/6B3SzS5
3/4 "tshuab ntxhua khaub ncaws rau qhov hnyav
Cov kauj ruam:
- Luam tawm ob daim ntawv txuas nrog.
- Tshem tawm lub servo thiab tus tuav tuav.
- Nthuav cov square pub thoob.
- Rhais cov chalk mus rau qhov ze ze.
- Muab chalk tso rau hauv lub thoob.
- Muab ram tso rau hauv lub thoob.
- Muab lub tshuab ntxhua khaub ncaws hnyav rau ntawm ram.
Pom zoo:
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