Prototyping Boxy Robot: 14 Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:29

Hauv kuv qhov project-based Humanoids chav kawm ntawm Carnegie Mellon University, Kuv tau xaiv los tsim thiab ua qauv ua qauv yooj yim xa neeg hlau. Vim tias muaj peev xwm los tsim nws pheej yig thiab nrawm, tus tsim yog lub thawv thiab me me. Thaum koj kawm paub yuav ua lub thawv nrog lub tshuab txiav laser, qhov muaj peev xwm dhau los ua qhov kawg rau lwm yam uas koj tuaj yeem ua tau siv tib lub hauv paus ntsiab lus. Cov ntawv qhia no yuav coj koj ib qib zuj zus los ntawm kuv lub cev tsim thiab txheej txheem txheej txheem, nrog ntau daim duab thiab cov duab tshuaj ntsuam nyob ntawm txoj kev.

Qhov kev tsim qauv no muaj 1 ntu uas txhais tau tias yog tuav cov khoom zoo li phau ntawv nyeem thiab cov ntawv sib tshooj uas kwv yees li 8.5 "x11". Muaj chav me me wiggle hauv qhov tsim, yog li nws yuav tsum tsis txhob haum. Hauv qab lub thawv ntawv, muaj chaw rau khoom siv hluav taws xob. Qhov chaw no tuaj yeem haum cov tswj kev tsav tsheb, Arduino cov laug cam, cov laug cam, Bluetooth chips, thiab lwm yam.

Kauj Ruam 1: Software, Khoos Phis Tawj, thiab Khoom Siv

Software:

Txhawm rau tsim koj tus qauv boxy neeg hlau, koj yuav tsum siv CAD qhov haujlwm uas koj xaiv. Kuv siv SolidWorks vim tias nws muaj rau kuv ntawm kuv lub tsev kawm ntawv. Lwm qhov kev xaiv rau cov uas tsis muaj kev nkag tau yog Autodesk Inventor, uas yog pub dawb rau cov tub ntxhais kawm siv nrog. Edu email chaw nyob.

SolidWorks

Autodesk tus neeg tsim khoom

Cov ntawv qhia no yuav ua tiav hauv SolidWorks, tab sis tseem yuav tsum yooj yim ua raws rau lwm cov haujlwm CAD.

Txhawm rau ua hom ntawv thiab xa cov ntawv mus rau laser txiav, Kuv siv CorelDraw.

CorelDraw

Muaj ntau ntau lwm cov haujlwm uas tau sib xws nrog ntau lwm cov tshuab txiav laser.

Kho vajtse:

Kuv siv Epilog Legend 36EXT 50W laser txiav. Ntau lwm lub tshuab txiav laser muaj nyob rau ntawm kev ua lag luam, tab sis qhov no zoo tshaj plaws tau txais kuv cov kev xav tau ntawm thaj chaw kos duab, nrawm, thiab ua tau zoo.

Epilog Legend Cov Lus Qhia Tshwj Xeeb

Cov ntaub ntawv:

• 2 x Acrylic Sheet (.1 "x24" x30 ")
• 4x DC Tsav
• 4x Motor Cov
• 4x tig
• Kub Nplaum Phom
• Kua nplaum
• Whiteboard Marker
• Cov thawv ntawv (me me thiab nruab nrab)
• USB

Kuv siv OPTIX cov ntawv ntshiab acrylic uas kuv pom hauv kuv lub tsev kawm qib siab lub khw muag khoom kos duab. Koj tuaj yeem yuav nws online ntawm no lossis siv lwm yam acrylic koj tuaj yeem tau txais koj txhais tes.

Kuv tau siv Mecanum lub log nrog cov tshuab txuas nrog thiab lub cev muaj zog los ntawm cov pob txha liab qab RobotShop cov khoom uas tam sim no tsis muaj cov khoom lag luam. Cov khoom siv zoo sib xws (thiab kim dua) tseem nyob hauv Tshuag ntawm no. Txhua lub log yuav ua haujlwm, Mecanum lub log yooj yim ua rau kuv lub hom phiaj zoo tshaj plaws.

Kauj Ruam 2: Qhov Chaw

Txhawm rau tsim tib lub boxy neeg hlau qauv raws li kuv tau ua, koj yuav xav tau cov hauv qab no:

• 1 x wheelbase
• 1x ntej
• 1x qab
• 1x sab laug
• 1x sab xis
• 1x compartment hauv qab
• 1 x compartment sab

Cov ntu no txhua tus yuav txuas rau ib leeg siv cov tab thiab qhov. Cov tab no yuav tsum muaj qhov dav ntawm cov khoom tuab. Hauv kuv qhov xwm txheej, kuv siv. 1 "acrylic, yog li kuv cov tab thiab qhov yog tag nrho.1" dav. Yog tias koj cov tab lossis lub qhov tsis raug qhov loj me, koj daim yuav tsis haum ua ke tsis sib xws!

Kauj Ruam 3: Wheelbase CAD

Cov chaw thiab qhov ntev ntawm koj lub cav nce thiab cov qhov thaiv yuav hloov pauv nyob ntawm seb hom kev tsav tsheb thiab lub cav uas koj muaj. Yog li ntawd, lawv tsis muab rau hauv cov duab kos no.

Cov qhov thaiv qhov tso cai rau koj ua rau koj lub cev tsis muaj zog txuas mus rau hauv qhov chaw hauv qab qhov chaw uas cov khoom siv hluav taws xob zaum. Txoj kev no, koj tuaj yeem muaj zog thiab tswj hwm koj lub cav yam tsis rub koj cov khoom siv hluav taws xob hauv av.

Nco ntsoov tias yog tias koj cov ntaub ntawv tsis yog.1 tuab, koj qhov ntev yuav tsis zoo ib yam!

Kauj Ruam 4: Sab saum toj CAD

Nco ntsoov tias yog tias koj cov ntaub ntawv tsis yog.1 tuab, koj qhov ntev yuav tsis zoo ib yam!

Kauj ruam 5: Rov qab CAD

Nco ntsoov tias yog koj cov ntaub ntawv tsis yog.1 tuab, koj qhov ntev yuav tsis zoo ib yam!

Kauj Ruam 6: Sab laug CAD

Nco ntsoov tias yog tias koj cov ntaub ntawv tsis yog.1 tuab, koj qhov ntev yuav tsis zoo ib yam!

Kauj Ruam 7: Sab xis CAD

Nco ntsoov tias yog tias koj cov ntaub ntawv tsis yog.1 tuab, koj qhov ntev yuav tsis zoo ib yam!

Kauj Ruam 8: Sab Hauv Qab CAD

Nco ntsoov tias yog koj cov ntaub ntawv tsis yog.1 tuab, koj qhov ntev yuav tsis zoo ib yam!

Kauj Ruam 9: Sab Sab CAD

Nco ntsoov tias yog koj cov ntaub ntawv tsis yog.1 tuab, koj qhov ntev yuav tsis zoo ib yam!

Kauj ruam 10: Tsim DXF

Ua ntej txav mus rau theem no, nws tuaj yeem muaj txiaj ntsig los ua SolidWorks Kev Sib Tham los xyuas kom meej tias koj qhov ntev tag nrho yog qhov raug thiab koj cov khoom txhua qhov haum.

Tam sim no koj muaj tag nrho koj cov ntaub ntawv CAD, koj yuav tsum tau npaj rau laser txiav lawv. Cov tshuab laser feem ntau siv cov ntawv.dxf, uas yog cov ntaub ntawv muaj cov ntaub ntawv vector. Lub tshuab txiav laser yuav ua raws cov duab qhia no kom txiav tawm koj cov khoom. Feem ntau, cov tshuab txiav laser yuav txuas nrog cov khoos phis tawj ib leeg nrog txwv kev ua haujlwm. Nws tuaj yeem muaj txiaj ntsig lossis tseem xav kom txuag koj cov ntaub ntawv DXF rau USB tsav kom nkag mus tau los ntawm cov khoos phis tawj no.

Rau txhua ntu, rov ua cov theem hauv qab no:

• Nyem "File"
• Nyem "Txuag Raws Li"
• Nkag mus rau USB lub hom phiaj
• Nyem "Txuag raws li Hom"
• Nyem "Dxf (*.dxf)"
• Nyem "Txuag"
• Nyem "Saib Kev Taw Qhia" (1)
• Nyem lub ntsej muag ntawm ntu koj xav kom lub laser txiav (2)
• Khij lub npov "Tam sim no" (3)
• Nyem lub cim ntsuab kos (4)
• Nyem "Txuag"

Kuv txuas kuv DXFs hauv qab no.

Kauj ruam 11: Formatting hauv CorelDraw

Qhib CorelDraw. Los ntawm qhov screen qhib, nyem "File", tom qab ntawd "New". Hauv lub qhov rai uas tshwm, sau koj cov ntaub ntawv CorelDraw. Kuv npe kuv cov ntaub ntawv boxy robot1 vim tias kuv yuav tsim ib daim ntawv rau txhua daim ntawv acrylic uas kuv yuav tsum txiav. Teem lub "Dav" thiab "Siab" rau qhov raug qhov tseeb ntawm koj daim ntawv acrylic, thiab xyuas kom tseeb tias cov khoom nyob hauv ntiv tes. Nyem "OK".

Ib daim ntawv tsis meej yuav tshwm ntawm koj lub vijtsam. Nyem "File", ces "Open". Xaiv tag nrho cov ntaub ntawv DXF uas koj tau tsim rau txoj haujlwm no thiab nyem "Qhib". Ib lub qhov rai ntxiv yuav tshwm rau txhua cov ntaub ntawv. Hauv "Chav", xaiv "Lus Askiv" ces "OK" rau txhua lub qhov rais. Tam sim no txhua qhov ntawm koj yuav qhib rau hauv cov tab sib cais.

Koj yuav pom tias muaj SolidWorks cov npe lag luam nyob hauv qab ntawm txhua ntu. Txhawm rau tshem tawm qhov no, nyem rau ntawm ib lub thawv ntawv, tuav tus yuam sij "Ua haujlwm" ntawm koj cov keyboard, thiab nyem rau lwm lub thawv ntawv. Kev tuav tes yuav tsum tshwm ntawm cov ces kaum. Nias lub pob "Rho tawm" thiab lawv yuav tsum ploj mus. Ua qhov no rau txhua qhov ntawm koj qhov chaw.

Tom qab lub npe SolidWorks raug tshem tawm, rov qab mus rau koj thawj DXF. Pib sab nraum lub kaum sab saud sab saud ntawm ib feem, nyem koj tus nas thiab rub nws sab nraud ntawm kaum hauv qab txoj cai. Lub thawv kab-kab yuav ua raws koj tus nas thaum koj rub nws. Nov yog cov cuab yeej xaiv. Nco ntsoov tias lub thawv ntim tag nrho cov kab ntawm koj ib sab. Yog tias koj ua yuam kev, nias lub pob "Escape" kom tshem koj qhov kev xaiv thiab sim dua.

Thaum tag nrho ntu tau xaiv, koj yuav pom ntau tus tuav nyob ib puag ncig txhua kab. Txhawm rau zam kom tsis txhob txav mus thiab teeb tsa cov kab no sib cais, nyem lub pob "Pawg" nyob rau sab saud. Qhov no yuav cia koj rub tag nrho cov kab ib zaug.

Thaum koj tau xaiv ib feem, theej nws. Tom qab ntawv rov qab mus rau koj lub khoob boxy robot1 cov ntaub ntawv thiab muab tshuaj txhuam nws. Muab nws tso rau saum kaum sab laug nrog tsawg kawg 1/8 "npoo ib puag ncig. Rov ua cov txheej txheem no nrog ntau qhov raws li yuav haum ntawm koj thawj daim ntawv ntawm acrylic. Nco ntsoov tias txhua ntu muaj tsawg kawg 1/8" npoo. ntawm txhua sab.

Xaiv txhua qhov hauv daim ntawv. Hauv kab ntawv saum toj kawg nkaus, xaiv cov kab ntawv hnyav poob hauv cov ntawv qhia zaub mov thiab xaiv "Hairline". Qhov no qhia lub tshuab txiav laser uas koj xav txiav cov kab ntau dua li kos lawv.

Siv tib cov txheej txheem kom haum rau txhua qhov koj seem seem mus rau koj daim ntawv thib ob ntawm acrylic.

Kauj Ruam 12: Laser Cutter Parameters

Nyem "File", ces "Print". Qhov no yuav qhib lub npov zoo sib xws los luam tawm ib phau ntawv Word zoo ib yam. Koj yuav pom tias nyob rau sab xis saum toj tab muaj cov lus hais tias "1 Qhov Teeb Meem". Tom qab peb teeb tsa lub tshuab txiav laser tsis raug, qhov no yuav tsum daws thiab hais "Tsis Muaj Teeb Meem".

Xaiv koj lub tshuab txiav laser ua lub tshuab luam ntawv. Tom qab ntawd, nyem "Nyiam" nyob ib sab ntawm nws.

Lub qhov rai tom ntej yog Epilog software. Muaj ob peb kauj ruam ntawm no, tab sis qhov kev txiav txim tsis muaj teeb meem. Tsuas yog xyuas kom tau lawv txhua tus!

• Txheeb xyuas "Auto-Focus" hauv ntu "Options"
• Xaiv "Vector" hauv ntu "Hom Haujlwm" ("Raster" yog rau kev kos duab)
• Teem lub "Dav" thiab "Qhov siab" cov teb hauv ntu "Daim Loj"
• Teem qhov "Ceev" rau 15%
• Teem lub "Hwj chim" rau 100%
• Teeb "Zaus" rau 5000 Hz

Qhov Ceev, Lub Hwj Chim, thiab Kev Zov Me Nyuam tau teeb tsa txhua qhov pom zoo rau 1/8 tuab acrylic hauv phau ntawv txiav cov tshuab laser. Muaj lwm cov tuab thiab lwm cov ntaub ntawv teev tseg ib yam.

Phau ntawv Epilog

Nyem "OK". Koj yuav tsum raug xa rov qab mus rau lub qhov rais luam tawm. Sab saum toj txoj cai tab tam sim no yuav tsum hais "Tsis Muaj Teeb Meem". Yog tias nws tseem teev cov teeb meem, txheeb xyuas koj qhov kev nyiam dua. Thaum tsis muaj teeb meem pom, nyem "Luam".

Kauj Ruam 13: Txiav Txheej Txheem

Kuv siv ntoo thiab tsim los ntawm lwm qhov haujlwm rau cov piv txwv cov duab no vim tias pom tseeb acrylic yog qhov ua tsis pom nyob hauv qab lub hau iav ntawm lub tshuab txiav laser.

Thaum cov ntaub ntawv xa mus rau lub tshuab txiav laser los ntawm txhaj "Luam", txav mus rau lub tshuab txiav laser. Nrhiav lub tshuab cua ntswj kom nruj thiab xyuas kom tseeb tias nws qhib. Tsis tas li, xyuas kom lub tshuab txiav laser tau qhib. Qhib lub hau thiab tso koj cov acrylic nyob rau sab saud sab laug. Qhov no yog keeb kwm lossis (0, 0) taw tes ntawm lub tshuab txiav laser thaj chaw. Kaw lub hau ntawm lub tshuab txiav laser. Hauv lub vijtsam me me, koj yuav tsum pom tus lej ua haujlwm thiab lub npe. Lub npe haujlwm yuav tsum sib phim nrog CorelDraw lub npe cov ntaub ntawv uas koj xa tuaj. Yog tias cov npe tsis sib xws, xyuas kom tseeb tias lub tshuab txiav laser tau txuas nrog lub khoos phis tawj kom raug thiab rov ua cov txheej txheem luam ntawv. Nias lub pob ntsuab "Mus" ib zaug koj tau txheeb xyuas tias koj muaj txoj haujlwm raug ntawm lub vijtsam. Lub laser yuav tsum txav hla koj cov khoom thiab pib ua kom pom tseeb. Tom qab nws tau tsom mus, nws yuav txav mus rau nws thawj qhov chaw thiab pib txiav. Tsis txhob tso koj lub tshuab txiav laser tsis muaj neeg saib.

Txij li Ceev, Lub Hwj Chim, thiab Zaus qhov tseem ceeb ntawm cov tshuab txiav laser tsuas yog pom zoo, koj yuav xav tau txiav ntau dua ib zaug kom txiav tag nrho los ntawm cov khoom siv. Nws yog CRUCIAL uas koj tsis txav koj cov khoom lossis txav ib kab hauv CorelDraw. Yog tias koj ua, qhov txiav tuaj yeem puas! Tsuas yog yam koj yuav hloov pauv yog koj li Kev Ceev thiab Lub Hwj Chim. Tom qab thawj zaug txiav, koj xav ua kom nrawm dua thiab muaj zog tsawg dua.

Rau kev hla dhau los, nce qhov nrawm los ntawm 10% thiab txo lub zog los ntawm 10%. Ua kom dhau mus kom txog thaum koj pom tias tag nrho koj daim ntawv txiav tawm tau "poob" lossis "poob". Qhov no yuav qhia tias txhua ntu tau raug txiav tag nrho thiab koj yuav tsis muaj teeb meem tshem tawm lawv. Ib daim ntawv txiav ua tiav yuav poob qis me ntsis qis dua qib ntawm daim tsis txiav.

Nco ntsoov tias raws li lub laser tsoo thaj chaw kos duab thaum nws txiav txhua txoj hauv kev los ntawm cov khoom siv, nws tuaj yeem xa cov taws los yog lub teeb ci. Tsis txhob poob siab, tab sis npaj kom ncua lub tshuab txiav laser yog tias cov khoom siv hluav taws kub heev vim tias nws tuaj yeem tua hluav taws. Muaj ob txoj hauv kev los nres lub tshuab txiav laser. Lub pob liab liab ncua kev txiav thiab tua lub laser tab sis nyob hauv qhov chaw. Txoj haujlwm tuaj yeem rov pib dua los ntawm nias lub pob ntsuab. Lub khawm pib dua ncua kev txiav, tua lub laser, thiab tshem tawm txoj haujlwm tag. Qhov no txhais tau tias lub laser rov qab mus rau lub hauv paus chiv keeb thiab koj yuav tsum rov pib dua koj txoj kev txiav kom tiav.

Tom qab koj ntseeg siab tias koj cov ntu tau raug txiav tag nrho, tshem tawm ntawm lub tshuab txiav laser thiab rov ua dua raws li qhov tsim nyog kom txog thaum txhua ntu raug txiav.

Kauj Ruam 14: Sib dhos

Sib dhos cov ntu no yog me ntsis zoo li ua cov duab dhos ua si! Ib yam uas kuv pom muaj txiaj ntsig ua ntej kuv ua kom sov cov kua nplaum phom kub tau siv daim ntawv lo lo lo ntxhuav los lo rau daim ntawv twg yog qhov twg thiab sab twg yog nce lossis nqis. Tom qab ntawd kuv tau xoob tag nrho txhua daim uas tsis muaj kua nplaum, tsuas yog txhawm rau tshuaj xyuas ob zaug tias txhua yam haum zoo.

Thaum siv cov kua nplaum kub, nco ntsoov tias koj tab tom ua haujlwm ntau dua cov khoom fij xws li duab los qhia lossis ntoo ntoo. Cov kua nplaum kub tuaj yeem rhuav tshem ntau qhov chaw xws li ntaub pua plag, ntaub ntaub, lossis rooj saum npoo.

Pib nrog sab xis thiab nraub qaum. Thawb cov kua nplaum kub rau hauv lub qhov nraub qaum ntawm sab xis. Thawb sab xis tab ntawm sab nraub qaum rau hauv lub qhov ntawm daim sab xis. Siv lub thawv ntawv los ua kom ntseeg tau tias lawv nyob ntawm lub kaum sab xis thiab cia cov kua nplaum qhuav.

Tom ntej, siv daim ntawv sab laug, thiab rov ua cov txheej txheem qub nrog rau sab laug qhov thiab rov qab tabs sab laug. Ib zaug ntxiv siv lub thawv ntawv los kom ntseeg tau tias cov khoom nyob ntawm lub kaum sab xis.

Tom ntej no, coj lub qab ntim. Tshaj tawm cov kua nplaum kub me ntsis hauv sab laug qhov chaw nruab nrab thiab sab nraub qaum qhov. Thawb cov kab hauv qab tabs rau hauv cov qhov no. Tshaj tawm hauv qab hauv qab ntawm lub thawv ntawv kom paub tseeb tias nws yog qib. Cia cov kua nplaum kub qhuav.

Yuav luag tiav! Nqa sab sab thiab thawb cov kua nplaum kub rau hauv qhov chaw hauv qab qhov qhov thiab sab nraub qaum ncaj. Muab lub qhov tso rau sab rau hauv qhov tsim nyog thiab tabs thiab cia cov kua nplaum kub qhuav.

Thaum kawg, nqa daim tseem ceeb. Tshaj tawm cov kua nplaum kub me ntsis rau hauv txhua qhov ntawm qhov saum toj kawg nkaus. Thawb sab saum toj mus rau lub tab haum thiab cia cov kua nplaum kub qhuav.

Nyias, ua raws li cov lus qhia los ua ke rau koj lub log, lub cav nce, thiab lub cav. Txuas cov khoom sib dhos rau koj lub logbase.

Ua tib zoo saib kom tsis txhob muab cov kua nplaum kub tso rau hauv koj lub log lossis lub cav, thawb cov kua nplaum kub rau hauv txhua qhov ntawm lub hauv paus log. Nqa cov khoom sib dhos sab laug, sab xis, nraub qaum, sab saum toj, thiab lub hauv paus thiab thawb nws mus rau hauv lub qhov log log.

Tam sim no koj muaj koj tus kheej heev boxy neeg hlau!

Nov yog qee cov lus qhia pab tau yuav ua li cas txuas ntxiv nrog txoj haujlwm no los ntawm kev txhawb zog thiab tsav lub cav siv Arduino:

Tswj DC Tsav nrog Arduino

Tsav Cov Tsav Tsheb nrog Arduino

Tsaug rau kev nyeem ntawv! Thov tshaj tawm cov lus nug lossis lus qhia uas koj muaj, thiab muaj kev lom zem ua!