PiCar: Tsim Ib Lub Tsheb Tsav Tsheb: 21 Kauj Ruam (nrog Duab)

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

Cov lus qhia no qhia cov kauj ruam uas yuav tsum tau los tsim PiCar

PiCar yog dab tsi?

PiCar yog qhov qhib qhov chaw qhib lub tsheb uas muaj kev ywj pheej. Nws tsis yog tus kheej ntawm nws tus kheej, tab sis koj tuaj yeem yooj yim ntxiv cov ntsuas los tswj lub tsheb nrog Arduino lossis Raspberry Pi.

Vim li cas siv PiCar hloov tsheb RC?

Siv PiCar zoo ib yam li siv lub tsheb RC ua lub platform. Txawm li cas los xij, PiCar muab kev tswj hwm koj ntau dua thiab hloov pauv tau yooj yim dua li lub tsheb RC. Lub chassis rau PiCar yog 3D luam tawm, thiab koj tuaj yeem hloov kho tus qauv 3D kom yooj yim ntxiv qhov chaw hauv tsheb yog xav tau. Ib qho ntxiv, txhua qhov ntawm cov khoom siv tau yooj yim online lossis tuaj yeem luam tawm 3D.

Leej twg ua PiCar?

PiCar tau tsim los ntawm Washington University hauv St. Louis hauv chav sim ntawm Humberto Gonzalez thiab Silvia Zhang. Lub tsheb tau tsim nyob rau lub Tsib Hlis 2017 thiab tau nkag mus rau hauv kev sib tw neeg hlau thaum lub Rau Hli. PiCar tau los nyob rau saum 10 tawm ntawm 30+ pawg thoob ntiaj teb hauv Txoj Kev Silk Road Robotics Innovations Competition ntawm Xi'an Jiaotong University hauv Xi'an, Suav. Nov yog qhov txuas rau YouTube Video ntawm FlowBot.

Cov lus qhia no tsuas yog qhia txog yuav tsim PiCar li cas. Yog tias koj xav tau tus lej piv txwv siv nrog koj PiCar, thov xa mus rau peb GitHub chaw cia khoom kom nkag mus piv txwv piv txwv thiab cov ntaub ntawv ntxiv.

Kauj Ruam 1: Daim Ntawv Teev Npe

Daim Ntawv Teev Npe:

• Tsav tsis txhuam thiab ESC ($ 32.77)
• Roj teeb ($ 10.23)
• Servo Tsav ($ 6.15)
• Log ($ 28; nrog ntxig thiab glued rau log)
• Qag, 6mm ($ 19.38)
• Hex Log Adapters ($ 3.95)
• Iav Loj ($ 8.51)
• Pinion Iav ($ 5.49)
• 3 hli Bore Bearings, 8 hli Sab Nrauv Sab Nraud ($ 8.39)
• 2 hli Bore Bearings, 5 hli Sab Nrauv Sab Nraud ($ 9.98)
• Qag Bearings ($ 30.68)
• M3 thiab M2 Ntsia Hlau ($ 9.99)
• Nkag mus rau lub tshuab luam ntawv 3D

Tag nrho: $ 176.00

Yeem:

• ESC Programming Card ($ 8.40)

  Turnigy TrackStar ESC Programming Card

• Roj Teeb Charger ($ 24.50)

  Turnigy P403 LiPoly / LiFe AC / DC Roj Teeb Charger (US Plug)

• Alan ciaj ntswj teeb ($ 9.12)

  https://www.amazon.com/TEKTON-Wrench-Metric-13-Pie…

• RC Tswj nrog Tus Txais ($ 22.58)

  https://hobbyking.com/en_us/hobbyking-gt2e-afhds-2…

• Arduino ($ 10.9) Cov.

  https://www.amazon.com/Elegoo-Board-ATmega328P-ATM…

• Pawg Mov Ci ($ 6.99)

  https://www.amazon.com/eBoot-Experiment-Solderless…

• Ntau Cov Xov ($ 6.99)

  https://www.amazon.com/GenBasic-Female-Solderless-…

Tag nrho: $ 89.48

Cov ntu tau raug xaiv siv peb yam txheej txheem:

• Kev ua haujlwm
• Kev nkag tau yooj yim
• Cov Ntaub Ntawv Muaj

Cov ntu xav tau los ua haujlwm zoo kom lawv ua tau raws li qhov xav tau thiab kav ntev. Lawv yuav tsum tau yooj yim yuav online kom lwm tus neeg tuaj yeem hloov pauv PiCar. Qhov no tseem ceeb vim tias peb lub chaw kuaj ntshav yuav tsim tsheb ntau dua yav tom ntej, thiab vim peb xav kom lub tsheb npaj tau rau cov neeg thoob plaws lub tebchaws. Cov ntu yuav tsum muaj cov ntaub ntawv txheeb xyuas vim tias peb yuav ua qhov kev sim nrog PiCar. Thaum ua qhov kev sim kawm, nws yog ib qho tseem ceeb kom paub tseeb tias yam khoom mus rau hauv cov cuab yeej uas koj siv. Muaj cov ntawv txheeb ua qhov kev sim ua piv txwv.

Kauj Ruam 2: Nkag Mus Rau Cov Qauv 3D

Yuav ua li cas nkag mus rau CAD cov ntaub ntawv tuav ntawm Onshape:

1. Mus rau

2. Yog tias koj tau txais cov ntsiab lus hais txog tus as khauj, siv cov ntawv pov thawj no txhawm rau nkag mus.

3. Txwv tsis pub, tsim ib tus as khauj tshiab. Thaum koj tus as khauj tau teeb tsa thiab koj tau nkag mus, mus rau: https://cad.onshape.com/documents/79e37a701364950… txhawm rau nkag mus rau Pi Car Assembly.

4. Qhib qhov txuas yuav coj koj mus rau Pi Car Assembly file raws li pom hauv cov duab saum toj no. Yog tias koj siv daim ntawv pov thawj muab, koj yuav muaj 'hloov kho' nkag mus rau lub rooj sib txoos no thiab txhua feem ntawm cov ntaub ntawv. Yog tias koj tab tom siv tus lej siv tshiab, koj tuaj yeem tsim daim qauv ntawm kev sib dhos thiab kho nws li ntawd.

5. Txhawm rau kawm Onshape, mus rau

6. Cov duab saum toj no qhia txog kev nkag mus rau txhua ntu, sib dhos, sib dhos ua ke lossis kos duab.

7. Txoj hauv kev zoo tshaj los tshuaj xyuas qhov ntev (nrug lossis kaum sab xis ntawm ntu) yog mus rau ntu ntu lossis sib dhos cov duab. Ua ntej txheeb xyuas qhov ntev, nco ntsoov tias koj ua cov duab nrog nws sib dhos ua ke lossis ib feem los ntawm txhaj rau khawm hloov tshiab raws li pom hauv daim duab saum toj no.

8. Txhawm rau txheeb xyuas qhov tshwj xeeb, siv qhov taw tes-rau-taw tes, taw tes-rau-kab, kab-rau-kab, lub kaum ntse ntse, thiab lwm yam khoom siv qhov ntev, thiab nyem rau ntawm ib khub ntawm cov ntsiab lus/kab, zoo li tau hais los saum toj no duab

Kauj Ruam 3: Rub tawm Cov Qauv 3D

Tam sim no koj tau nkag mus rau cov qauv 3D, koj yuav tsum rub tawm lawv mus rau 3D luam ntawv

9 ntu koj yuav tsum rub tawm:

• Chassis Kawg
• Ackermann puag txuas
• Ackermann servo tsav

• Log hex 12 hli

  (x2) Ob sab yog qhov zoo ib yam

• Ackermann caj npab

  (x2) Ob sab laug thiab sab xis; cov ntaub ntawv no yog daim iav duab ntawm ib leeg

• Ackermann pin link

  (x2) Ob sab yog qhov zoo ib yam

1. Txhawm rau rub tawm cov ntu saum toj no, mus rau PiCar Lub Rooj Sib Tham tseem ceeb hauv OnShape
2. Txoj nyem rau ntawm ntu koj xav rub tawm
3. Nyem export
4. Txuag cov ntawv ua.stl cov ntaub ntawv
5. Rov ua cov kauj ruam no kom txuag tag nrho 9 cov ntaub ntawv ua.stl cov ntaub ntawv

Yog tias koj ntsib teeb meem qhov twg cov ntaub ntawv tsis tuaj yeem rub tawm, koj tuaj yeem pom cov ntawv theem lossis cov ntaub ntawv stl ntawm peb GitHub. Los ntawm nplooj ntawv tseem ceeb nyem hwv, chassis, thiab thaum kawg stl_files lossis step_files.

Kauj Ruam 4: 3D Luam the. STL Cov Ntaub Ntawv

Siv koj lub tshuab luam ntawv 3D uas koj xaiv los luam tag nrho cov ntaub ntawv.stl

Feem ntau ntawm cov ntawv yuav tsum tau luam tawm nrog kev txhawb nqa, tab sis kuv pom tias ob peb ntawm lawv luam tau zoo dua yam tsis muaj lawv. Kuv pom zoo kom koj luam tawm Ackermann servo horn, Log hex 12mm, thiab Ackermann caj npab daim hauv cov ntawv cais, thiab tsis muaj kev txhawb nqa. Qhov no yuav txo tag nrho lub sijhawm luam tawm, thiab ua kom cov ntawv luam tau zoo dua.

Kuv tau luam tawm txhua feem nrog 100% ntxiv, tab sis qhov no yog kev xaiv tus kheej. Koj tuaj yeem mus qis li 20% ntxiv yog tias koj xav tau. Kuv txiav txim siab luam tawm nrog qhov ua tiav siab hauv qhov kev sim ua kom muaj zog ntawm cov khoom.

Kuv cov ntawv luam tawm tau teeb tsa kom siab 0.1 hli txheej. Kuv tau txiav txim siab qhov no vim tias 0.1 hli yog lub hauv paus teeb rau kuv lub tshuab luam ntawv 3D. Kuv yuav pom zoo luam cov ntu ntawm 0.1 hli thiab 0.2 hli txheej siab.

Kauj Ruam 5: Push Bearings Rau Hauv 3D Luam Pem Hauv Ntej Stearing System

Ib qho 3 hli coj mus rau hauv ob qho ntawm Ackermann Arm 3D luam tawm ntu

Koj yuav tsum muaj peev xwm thawb cov kabmob hauv kev siv koj cov ntiv tes. Txawm li cas los xij, yog tias yuav tsum tau siv dag zog ntau ntxiv Kuv pom zoo kom nias qhov khoom tiaj tus rau hauv cov kabmob kom koj tuaj yeem thawb nrog ntau lub zog. Sim tsis txhob siv yam khoom ntse lossis cuam tshuam rau cov kabmob sai.

Nias ob 2 mm bearings rau hauv ob qho ntawm Ackermann Arm qhov chaw

Nias 2 mm kabmob rau hauv ob qho ntawm Ackermann Pin Txuas ntu

Thov xa mus rau cov duab kom nkag siab tias txhua qhov ntawm cov kabmob mus qhov twg. Nws yuav tsum yooj yim los qhia txij li cov kabmob tsuas yog mus rau hauv qhov loj me uas raug.

Kauj Ruam 6: Ntsia Hlau Ackermann Horn Onto Servo

Nias lub Ackermann Servo Horn 3D luam tawm ib feem mus rau sab saum toj ntawm servo.

Ackermann Servo Horn yuav tsum ntsaws rau hauv. Yog tias tsis yog, koj tuaj yeem txiav qhov taub ntawm qhov servo. Raws li koj tuaj yeem pom hauv thawj daim duab, Kuv txiav qhov taub ntawm kuv lub servo tawm los qhia koj tias yuav zoo li cas.

Siv ib qho ntawm cov ntsia hlau uas tuaj nrog koj lub servo txhawm rau ntsia hlau Ackermann Servo Horn mus rau servo

Cov kauj ruam no yog ncaj nraim rau pem hauv ntej. Cov ntsia hlau yuav xyuas kom meej tias cov khoom txuas tau zoo.

Kauj Ruam 7: Txuas 3D Luam Pem Hauv Ntej Log Los Ua Ke

Txuas ob Ackermann caj npab ntu mus rau Ackermann Base Txuas nrog ob M2 ntsia hlau thiab txiv ntseej

Siv qhov chaw nruab nrab rau cov kauj ruam no. Thov xa mus rau cov duab kom pom qhov twg txhawm rau txuas Ackermann Arm qhov chaw. Ob sab yuav tsum yog daim iav daim duab ntawm ib leeg.

Txuas ob Ackermann Pin Txuas ntu mus rau Ackermann caj npab ntu siv ob lub M2 ntsia hlau thiab txiv ntseej.

Qhov kawg ntawm Ackermann Pin Txuas uas Tsis Muaj Cov Kabmob yog qhov kawg koj siv los txuas rau Ackermann Arm. Thov xa mus rau cov duab kom tau txais kev taw qhia ntawm cov khoom kom raug.

TSEEM CEEB: Sab laug thiab sab xis Ackermann Pin Txuas ntu tau ntxeev txheeb ze ib leeg

Qhov no txhais tau tias ib lub qhov kawg yuav tsum ntab saum lwm qhov, raws li pom hauv cov duab.

Kauj Ruam 8: Txuas Servo rau Pem Hauv Ntej Log Los Ua Ke

Siv M2 ntsia hlau thiab txiv ntseej, txuas cov servo rau lub log pem hauv ntej

Ackermann servo horn mus nruab nrab ntawm ob qhov Ackermann Pink Link ntu. Xa mus rau cov duab kom koj tau txais kev taw qhia ntawm cov khoom kom raug.

Kauj Ruam 9: Txuas Cov Log mus rau Lub Rooj Log Pem Hauv Ntej

Ntxig ob lub log Hex 12mm 3D luam tawm ntu rau hauv ob lub log

Qhov luam tawm 3D no ua qhov sib txawv ntawm lub log thiab lub tsheb. Qhov no tso cai rau cov log tsheb kom ze rau ntawm lub chassis li sai tau thaum tseem tsis tau kov.

Siv ob lub M3 ntsia hlau thiab txiv ntseej los txuas ob lub log rau lub log pem hauv ntej

Lub taub hau ntawm cov ntsia hlau mus rau sab nraud ntawm lub log, thiab cov txiv ntoo mus rau sab hauv. Qhov no ua tiav lub log pem hauv ntej los ua ke.

Kauj Ruam 10: Mount Pinion Gear Onto Motor Ncej

Cov iav pinion yuav tsum tau muab tsoo rau ntawm tus ncej ntawm lub cav

Kuv pom zoo siv yas rauj kom koj tsis txhob ua qhov puas. Khaws cov iav pinion ze ntawm ntug ntawm tus ncej raws li pom hauv daim duab.

Kauj Ruam 11: Txiav Qag rau Ntev

Txiav lub qag mus rau 69 hli

6 hli txoj kab uas hla txoj kab uas hla yog 200 hli ntev thaum nws los txog ntawm McMaster Carr. Qag yuav tsum tau txiav rau 69 hli rau qhov kev tsim no.

Kuv pom zoo kom siv Dremel nrog cov ntawv sib tsoo sib tsoo txuas. Txij li lub qag tau ua los ntawm cov hlau tsis xeb, nws yuav siv ob peb feeb ntawm kev sib tsoo los txiav nws kom ntev. Nws coj kuv tsuas yog 5 feeb los txiav kuv cov axel rau qhov kev tsim no. Kuv pom zoo siv Dremel los txiav lub chamfer mus rau qhov kawg ntawm lub qag. Qhov no yuav tso cai rau cov kabmob sib dhos thiab cov iav kom muaj lub sijhawm yooj yim zawv zawg.

Kauj Ruam 12: Xaub Mounted Bearings rau Qag

Cov kabmob sib dhos yuav tsum tau swb rau ntawm lub qag

Qhov no yog pib tsim cov log tsheb sib dhos tom qab

Kauj Ruam 13: Mount Spur Gear Onto Axle

Xaub lub iav spur mus rau sab xis ntawm lub qag

Xyuas kom tseeb tias lub xauv ntsia hlau nyob sab hauv tig rau sab ntawm lub iav.

Siv cov ciaj ntswj uas tau muab, ntswj lub hau ntswj kom txog thaum nws nruj rau ntawm lub qag

Nws yuav yog qhov zoo tshaj kom khaws lub hau ntswj xoob rau tam sim no thiab ua kom nruj tom qab. Qhov no yuav ua kom ntseeg tau tias cov iav spur hniav zoo nrog cov iav pinion.

Kauj Ruam 14: Txuas Hex Adapters rau 2 Log

Ntsia ob lub log hex hloov mus rau lub log siv cov ntsia hlau muab.

Xyuas kom cov ntsia hlau raug kaw kom nruj.

Kauj Ruam 15: Txuas Cov Log thiab Hauv ncoo Thaiv Cov Kabmob rau Qag

Xaub ob lub log mus rau qhov kawg ntawm lub qag

Ceev cov xauv xauv kom lub log tau tsau rau hauv qhov chaw

Kauj Ruam 16: Mount Brushless Motor Onto Chassis

Mount lub cav mus rau lub chassis los ntawm kev siv peb M2 ntsia hlau.

Nws yuav pab tau rau yav tom ntej yog tias koj taw qhia cov xov hlau kom lawv tig mus rau sab hauv ntawm lub chassis.

Kauj Ruam 17: Mount Rov Qab Log Los Ua Ke rau Chassis

Mount lub log tsheb sib dhos rov qab rau lub chassis los ntawm kev siv plaub M3 ntsia hlau thiab txiv ntseej.

Nco ntsoov tias cov iav spur thiab cov iav pinion tau sib dhos thiab tias lawv cov hniav ntxig tau zoo.

Yog tias cov hniav tsis ua kom zoo, xoob lub xauv xauv ntawm lub iav spur. Tsiv lub iav spur raws lub qag kom txog thaum nws meshes nrog cov iav pinion.

Kauj Ruam 18: Txuas Pem Hauv Ntej Log Los Ua Ke rau Chassis

Mount lub log pem hauv ntej los ua ke rau lub chassis los ntawm kev siv plaub M3 ntsia hlau thiab txiv ntseej.

Haum lub servo rau hauv lub thawv plaub fab servo hauv lub chassis.

Kauj Ruam 19: Txuas ESC rau Brushless Motor

Txuas cov xov hlau tib xim ntawm lub cav mus rau cov xov hlau ntawm ESC

Cov xov hlau no muab lub zog rau lub cav. Lub cev muaj zog yog lub tshuab tsis txhuam, uas txhais tau tias nws tau tsav los ntawm kev hloov pauv tam sim no hauv peb pawg coils. ESC txiav txim siab thaum twg yuav hloov pauv tam sim no nyob ntawm pwm lub cim nws tau txais los ntawm nws cov ntaub ntawv xov xwm.

Kauj Ruam 20: Txuas ESC thiab Cov Ntaub Ntawv Qhia Txog Lub Cev Tsav Tsheb rau Tus Txais

Nco ntsoov tias qhov zoo thiab hauv av nyob hauv qhov chaw raug rau koj tus neeg txais. Nws yog ib qho tseem ceeb heev uas cov xov hlau zoo (liab) nyob hauv tib kab.

Xa mus rau koj tus tswj hwm RC tus neeg siv phau ntawv txhawm rau txiav txim siab qhov twg txhua qhov ntawm cov xaim hluav taws xob xav tau mus. Txog kuv tus tswj hwm, lub tshuab servo cable nyob rau hauv ib qho thaum ESC cable nyob hauv channel ob.

Kauj Ruam 21: Hwj chim Txhua Yam Nrog LiPo Roj Teeb, thiab Xeem Nrog RC Tswj

Ntsaws LiPo roj teeb rau hauv ESC txhawm rau ua kom lub zog tag nrho Koj tam sim no tuaj yeem tswj lub tsheb nrog koj li RC tswj. Kuaj tias tag nrho cov kab ke ua haujlwm raws li lub hom phiaj xav tau.

Koj yuav tsum tau kho lub servo kom lub tsheb tsav ncaj. Feem ntau cov tswj hwm RC tso cai rau koj kho lub kaum ntse ntse no. Koj kuj tseem tuaj yeem txav deb npaum li cas koj tig lub log kom txog thaum lub tsheb pib. Kuv pom zoo nyeem koj tus tswv phau ntawv qhia rau koj tus tswj hwm RC kom koj nkag siab nws cov haujlwm sib txawv.