Cov txheej txheem:

LEGO Delta Robot Scanning & Drawing: 7 Kauj Ruam (nrog Duab)
LEGO Delta Robot Scanning & Drawing: 7 Kauj Ruam (nrog Duab)

Video: LEGO Delta Robot Scanning & Drawing: 7 Kauj Ruam (nrog Duab)

Video: LEGO Delta Robot Scanning & Drawing: 7 Kauj Ruam (nrog Duab)
Video: 20 MOMENTS YOU WOULDN'T BELIEVE IF NOT FILMED 2024, Kaum ib hlis
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LEGO Delta Robot Scanning & Drawing
LEGO Delta Robot Scanning & Drawing

Siv LEGO NXT los ua Delta Robot.

Ua ke scan thiab kos duab.

Kauj Ruam 1: Kinemtic Analysis

Kinemtic Kev Ntsuam Xyuas
Kinemtic Kev Ntsuam Xyuas

Thov qhib PDF kom pom cov ntsiab lus.

Siv: https://www.google.com.tw/url? Sa = t & rct = j & q = & esrc = s …

Kauj ruam 2: Mechanism

Mechanism
Mechanism
Mechanism
Mechanism
Mechanism
Mechanism

LEGO NXT *1LEGO Tsav *3LEGO Lub teeb pom kev zoo *1LEGO lub siab xav *1 lub thawv White board *1 (Vim tias lub rooj tsavxwm dawb muaj kev sib txhuam tsawg dua.) Lub cim dawb lub cim *1Shelf *1Belt *n (Txhim Txee thiab Neeg Hlau ua ke.)

Yog tias koj muaj ntau lub iav, koj tuaj yeem siv lawv los tsim lub iav. Nws zoo dua rau lub cav kom muaj qhov txo qis loj.

Hloov caj npab ntev kom tau raws li qhov koj xav tau.

Nws yog qhov zoo dua los siv lub pob qhov (socket) ntawm kev sib tshuam. Kuv tsis muaj nws, yog li kuv hloov nws mus rau 2 kiv puag ncig.

Kauj Ruam 3: MATLAB Simulation

MATLAB Simulation
MATLAB Simulation
MATLAB Simulation
MATLAB Simulation

Siv MATLAB los sim qhov kev nqis tes ua.

Xam qhov kev mus los ntawm tus neeg hlau ua ntej siv tus neeg hlau. Nws tuaj yeem zam kev ua haujlwm tsis raug xws li tshaj qhov chaw ua haujlwm.

Kauj Ruam 4: LabVIEW Code - Qhov Tseem Ceeb

LabVIEW Code - Qhov tseem ceeb
LabVIEW Code - Qhov tseem ceeb
LabVIEW Code - Qhov tseem ceeb
LabVIEW Code - Qhov tseem ceeb
LabVIEW Code - Qhov tseem ceeb
LabVIEW Code - Qhov tseem ceeb
  1. Nyem rau qhov "Initialize" hauv qab. 0, kev pib ua tiav.
  2. Nyem rau "Scan" hauv qab. Ua NXT ib L (cm)*L (cm) cov kab uas muaj d kab thiab d kab. Qhov lub teeb pom kev ntsuas los ntawm sab laug mus rau sab xis, thiab los ntawm sab saum toj mus rau hauv qab yog tias qhov muaj txiaj ntsig ntawd lub teeb pom kev zoo txiav txim siab yog xim dub (hauv daim duab nws yog <45, tab sis nws yuav txawv.), Nws yuav nkag mus rau qhov array li X0, Y0, Z0. Thiab nws yuav tawm ntawm cov txheej txheem scanning.

  3. Hloov lub teeb pom kev zoo rau daim npav dawb.
  4. Nyem rau "Kos" hauv qab. Qhov duab yuav pib ntawm txoj haujlwm uas Kauj Ruam 2 nkag mus (X0, Y0, Z0). Qhov matlab tsab ntawv yog txoj haujlwm uas koj ntxig.

Kauj Ruam 5: LabVIEW Code - Delta Inverse

LabVIEW Code - Delta Inverse
LabVIEW Code - Delta Inverse

Nws yog qhov rov qab kinematic xam.

Cov tswv yim yog cov ntsiab lus ntawm txoj kev sib koom ua ke x, y, thiab z.

Cov zis tawm yog lub kaum sab xis thiab lub zog rau peb lub cav, thiab "loops" qhia cov loops tus lej.

Kauj Ruam 6: LabVIEW Code - 3 Lub Cev Tsav Tsheb

LabVIEW Code - 3 Tsav Sync
LabVIEW Code - 3 Tsav Sync
LabVIEW Code - 3 Tsav Sync
LabVIEW Code - 3 Tsav Sync

Siv PID tswj.

Tawm tswv yim 3 lub cav qhov chaw nres nkoj, lub zog, lub kaum ntse ntse.

Yog tias qhov sib txawv ntawm lub cev lub kaum sab xis nyeem los ntawm NXT thiab lub kaum sab xis uas Delta Inverse muab tsawg dua 5 degree, lub cav yuav tsum tsis tig.

Yog tias 3 lub cav tau nres, cov txheej txheem tiav.

Pom zoo: