Tus Neeg Ua Haujlwm Raws Li 4-legged Walker: 12 Cov Kauj Ruam (nrog Duab)

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

Tsim koj tus kheej (tsis xav tau thev naus laus zis) servomotor-tsav 4-leg walker robot! BEAM 4-legger yuav yooj yim dua rau koj los ua yog tias koj tsis tau teeb tsa lub microcontroller programming thiab tsuas yog xav tsim tus neeg taug kev. Ntawm qhov tod tes, yog tias koj tab tom pib nrog microprocessor programming thiab muaj ob peb servos. ncaws ncig, qhov no yog koj qhov phiaj xwm zoo tshaj plaws! Koj tau mus ua si nrog cov neeg taug kev cov neeg kho tshuab yam tsis tas yuav txhawj xeeb txog qhov tsis sib xws BEAM microcore tweaking. Yog li txawm hais tias qhov no tsis yog BEAM bot tiag tiag, ob nplooj ntawv hauv qab no yog cov peev txheej zoo rau txhua tus 4-legged walker: Bram van Zoelen's 4-legged walker tutorial muaj cov ntsiab lus zoo ntawm kev siv tshuab thiab kev xav. Kuv coj kuv txhais ceg tsim tawm ntawm nws website. Chiu-Yuan Fang tus neeg taug kev kuj tseem zoo nkauj rau BEAM cov khoom thiab qee qhov kev tsim qauv taug kev ntau dua. Ua tiav kev nyeem ntawv? Npaj kom tau txais lub tsev?

Kauj Ruam 1: Sau Qhov Chaw, Ntsuas, Npaj Me ntsis

Ua 4-legged servowalker yog qhov yooj yim zoo nkauj, ntu-paub qab hau. Qhov tseem ceeb, koj xav tau ob lub cav, ob txhais ceg, roj teeb, ib yam dab tsi ua rau lub cav rov qab los thiab tawm mus, thiab tus ncej kom tuav tau lawv txhua tus. Parts list: 2x Tower Hobbies TS-53 Servos20in hnyav tooj liab hlau: 12in rau pem hauv ntej ob txhais ceg, 8in rau tom qab. Kuv muaj 10-gauge. 12-ntsuas yuav tsum ua haujlwm, tab sis kuv kwv yees. Roj teeb yog 3.6v NiMH uas tau muag rau hauv online pheej yig. Lub hlwb microcontroller yog AVR ATMega 8. Tus ncej yog Sintra, uas yog txias txias. Nws yog yas foamboard uas khoov thaum koj ua kom sov nws hauv cov dej npau. Koj tuaj yeem txiav nws, laum nws, matte-riam nws, thiab tom qab ntawd khoov nws kom zoo. Kuv tau txais kuv li ntawm Solarbotics. Other seem: Drilled project board rau CircuitSnap-off headers (txiv neej thiab poj niam) rau kev sib txuas servo thiab roj teeb A 28-pin socket rau ATMegaSuper-duper kua nplaum solder hlau thiab xaim, Qee qhov ntsia hlau me me los tuav lub cav. onDrillMatte riam Ntawm no, koj pom kuv ntsuas tawm ntu, ua daim duab kos rau tus ncej, thiab tom qab ntawd tuav tus pas ntsuas los ua cov ntawv ntawv. Kuv siv tus qauv ua cov lus qhia los kos nrog tus cwj mem uas kuv yuav laum qhov hauv Sintra.

Kauj Ruam 2: Tsim Tus Qauv, Haum Tsav Tsheb

Ua ntej kuv drilled qhov ntawm lub ces kaum ntawm ob lub cav txiav tawm, tom qab ntawd tau qhab nia raws ntug ntawm tus pas ntsuas los ntawm lub qhov mus rau qhov nrog rab riam matte. Nws yuav siv li 20 hla nrog rab riam kom dhau los ntawm Sintra. Kuv tau tub nkeeg thiab ntes nws tom qab txiav txog 1/2 txoj kev hla.

Tom qab txiav tawm lub qhov, Kuv sim-haum cov motors tsuas yog saib nws ua haujlwm li cas. (Me ntsis dav heev, tab sis kuv tau txais qhov ntev kom raug.)

Kauj Ruam 3: Khoov Ncej, Txuas Cov Tsav Tsheb

Hmoov tsis zoo, kuv tsis muaj tes txaus los yees duab kuv tus kheej khoov Sintra, tab sis ntawm no yog li cas nws tau nqis mus:

1) Rhaub dej me me rau ntawm lub qhov cub 2) Tuav Sintra hauv qab dej ib pliag lossis ob zaug nrog rab diav ntoo (Sintra ntab) 3) Rub nws tawm, thiab nrog cov pam sov thiab qee yam tiaj tus, tuav nws khoov ntawm lub kaum sab xis kom txog thaum nws txias. Rau cov qauv "Miller" taug kev taug kev, koj xav tau txog 30-degree lub kaum sab xis ntawm ob txhais ceg. Drilled ntsia hlau-qhov thiab bolted lub motors rau.

Kauj Ruam 4: Txuas ceg mus rau lub hnub qub-zoo li Servo Motor Horns

Kuv txiav 12 "thiab 8" ntu ntawm cov tooj liab tuab nrog tinsnips kom ua rau pem hauv ntej thiab nraub qaum ob txhais ceg, feem. Tom qab ntawd kuv khoov lawv ntawm lub kaum sab xis kom txuas rau lub tshuab raj raj.

Ib qho BEAM kev dag thaum koj xav tau txuas cov khoom yog txhawm rau khi lawv nrog cov xov hlau txuas. Hauv qhov no, Kuv hle ib co hlua txuas, khiav nws los ntawm lub tshuab raj thiab ib ncig ntawm ob txhais ceg, thiab ntswj nws ntau heev. Qee tus neeg tau xaim cov hlau khov ntawm qhov no. Kuv tseem tuav nruj yam tsis muaj. Xav tias dawb los luas tawm qhov tshaj thiab khoov qhov sib tw.

Kauj Ruam 5: Muab ob txhais ceg tso rau ntawm lub cev, khoov lawv kom raug

Ntsia cov hnub qub servo (nrog rau ob txhais ceg) rov qab rau lub cav, tom qab ntawd khoov.

Symmetry yog qhov tseem ceeb ntawm no. Cov lus qhia kom ua rau ob sab txawm yog khoov hauv ib qho kev qhia ib zaug xwb, yog li nws yooj yim dua rau qhov muag yog tias koj ua ntau dhau ntawm ib sab lossis lwm yam. Qhov ntawd tau hais tias, Kuv tau khoov thiab rov khoov kuv tus kheej ntau zaus tam sim no, thiab koj tuaj yeem rov pib dua ncaj yog tias koj mus deb dhau ntawm kev taug qab tom qab tom qab kho nws ib zaug ntau zaus. Tooj liab zoo li ntawd. Saib rau ntawm nplooj ntawv web uas kuv teev rau cov lus qhia ntxiv ntawm no, lossis tsuas yog tis nws. Kuv tsis xav tias nws yog txhua yam tseem ceeb heev, tsawg kawg ntawm qhov ua kom nws taug kev. Koj yuav tau kho nws tom qab. Tsuas yog qhov tseem ceeb yog kom tau txais qhov nruab nrab ntawm lub ntiajteb txawj nqus txaus hauv nruab nrab kom nws taug kev mus. Qhov zoo tshaj, thaum ib txhais ceg pem hauv ntej nyob hauv huab cua, ob txhais ceg tig rov qab yuav ua rau lub hauv paus tig mus rau qhov siab/pem hauv ntej ceg, uas yuav ua rau taug kev. Koj yuav pom kuv txhais li cas hauv video lossis ob qho los.

Kauj ruam 6: Lub hlwb

Lub paj hlwb zoo nkauj yooj yim heev, yog li koj yuav tsum tau zam txim rau kuv daim duab qhia kab lus. Cias nqes mus +3.6 volts thiab hauv av (ncaj los ntawm lub roj teeb) los khiav lub cav, thiab ntaus lawv nrog cov mem tes-dav hloov pauv teeb liab los ntawm lub microcontroller qhia lawv mus qhov twg. (Saib nplooj ntawv wikipedia servo yog tias koj tshiab los siv servomotors.) Kuv txiav ib daim ntawm cov khoom seem pcb dawb, thiab super-glued headers rau nws. Ob lub 3-tus pin headers rau cov servos, ib tus 2-pin lub taub hau rau lub roj teeb, ib tus pin 5-tus pin rau kuv tus AVR programmer (uas kuv yuav tsum tau qhia rau ib hnub), thiab 28-pin qhov rau ATMega 8 nti. Thaum tag nrho cov qhov (socket) thiab lub taub hau tau lo rau, Kuv tau muab lawv tshem tawm. Cov kab hluav taws xob feem ntau yog nyob hauv qab ntawm lub rooj tsavxwm. Nws tsuas yog ob peb xaim xwb.

Kauj ruam 7: Program Chip

Lub cajmeem tuaj yeem ua tiav nrog kev teeb tsa zoo li koj tau txais. Kuv tus kheej, qhov ntawd tsuas yog (daim duab) ghetto-programmer-tsuas yog qee qhov xov hlau txuas rau qhov chaw nres nkoj sib luag. Cov lus qhia no qhia meej txog tus programmer thiab software koj xav tau kom nws ua txhua yam. Tsis txhob! Tsis txhob! Tsis txhob siv txoj kab ke no nrog cov khoom siv uas txawm tias nyob ze rau qhov hluav taws xob siab dua 5v. Qhov hluav taws xob tuaj yeem ua rau lub cable thiab kib koj lub khoos phis tawj qhov chaw nres nkoj ua ke, ua rau koj lub computer puas. Ntau cov qauv tsim muaj qhov txwv cov neeg tawm tsam thiab/lossis diodes. Rau txoj haujlwm no, ghetto zoo. Nws tsuas yog lub roj teeb 3.6v nyob hauv. Tab sis ceev faj. Qhov chaws kuv siv yog txuas ntawm no. Feem ntau, nws yog overkill rau tsuas yog tau txais ob lub cav kom viav vias rov qab los, tab sis kuv tau muaj kev lom zem. Qhov tseem ceeb ntawm nws yog tias cov servos xav tau pulses txhua 20ms lossis li ntawd. Qhov ntev ntawm cov mem tes qhia rau servo qhov twg yuav tig ob txhais ceg. 1.5ms nyob ib puag ncig nruab nrab, thiab thaj tsam yog los ntawm 1ms txog 2ms kwv yees. Txoj cai siv lub tshuab ua haujlwm 16-ntsis mem tes tsim rau ob lub teeb liab thiab 20ms ncua, thiab muab microsecond daws teeb meem ntawm cov khoom nrawm. Qhov kev daws teeb meem ntawm servo yog qhov chaw ze ntawm 5-10 microseconds, yog li 16-khoom txaus. Puas yuav tsum muaj microcontroller-programming qhia tau? Kuv yuav tau txais qhov ntawd. Qhia rau kuv paub hauv cov lus.

Kauj Ruam 8: Tus Me Nyuam Thawj Kauj ruam

Kuv tau txais ob txhais ceg pem hauv ntej viav vias txog 40 degrees ib txoj kev twg, thiab ob txhais ceg nraub qaum txog 20 degrees. Saib thawj daim vis dis aus rau qhov piv txwv ntawm kev txav mus los hauv qab.

(Nco tseg qhov zoo ob peb-feeb qeeb thaum kuv nias lub pob pib dua. Ua tau zoo heev thaum rov tsim kho nws kom nws zaum tseem nyob ob peb feeb nrog lub zog qhib. Tsis tas li ntawd, nws yooj yim rau nruab ob txhais ceg rau thaum koj ua tiav ua si thiab koj tsuas yog xav kom nws sawv.) Nws taug kev ntawm thawj zaug sim! Saib daim video 2. Hauv daim vis dis aus, saib txoj hauv kev uas ceg pem hauv ntej nce siab, tom qab ntawd ob txhais ceg rov tig los ua kom nws poob mus rau pem hauv ntej ceg. Taug kev! Ua si nrog koj qhov nruab nrab ntawm lub ntiajteb txawj nqus thiab khoov ceg kom txog thaum koj tau txais cov lus tsa suab ntawd. Kuv pom tias nws tau tig mus rau ib sab ntau, txawm hais tias kuv tau zoo nkauj heev tias kuv tau nyob hauv nruab nrab lub cav cov tshuab thiab hauv txoj cai. Hloov tawm vim yog qhov ntse ntse ntawm ib qho ntawm taw. Yog li kuv ua robo-booties. Puas muaj ib yam dab tsi sov-ntsws tubing tsis tuaj yeem ua?!

Kauj ruam 9: Kev hloov pauv

Yog li nws taug kev ok. Kuv tseem tab tom ua si ib puag ncig nrog kev txav mus los thiab cov duab ntawm ob txhais ceg thiab lub sijhawm kom pom sai npaum li cas kuv tuaj yeem ua nws ncaj ncaj thiab siab npaum li cas kuv tuaj yeem ua rau nws nce.

Txog kev nce toj, pem hauv ntej ceg khoov ua ntej taw yog qhov tseem ceeb - nws pab nws kom tsis txhob raug ntes ntawm ntug. Hloov chaw, txhais ceg caij hla qhov teeb meem yog tias nws tsoo hauv qab "hauv caug." Kuv sim ua kom ob txhais taw tsoo ntawm tib lub kaum sab xis 30-degree li tus ncej. Yog li nws tuaj yeem nce siab li cas?

Kauj Ruam 10: Yog li Nws Muaj Peev Xwm Li Cas?

Tsuas yog kwv yees li 1 nti tam sim no, uas ntaus cov neeg hlau yooj yim tshaj plaws uas kuv tau tsim, yog li kuv tsis yws yws. Saib cov vis dis aus kom pom nws hauv kev nqis tes ua. Nws tsis yog tsuas yog dhia ncaj ncaj. Nws yuav siv ob peb sim kom tau ob txhais ceg pem hauv ntej nce thiab nqis. Ua siab ncaj, nws zoo li qhov teeb meem traction ntau dua txhua yam. Los yog qhov nruab nrab ntawm lub ntiajteb txawj nqus tej zaum yuav siab me ntsis rau qhov ntev pem hauv ntej ceg viav vias. Koj tuaj yeem pom nws yuav luag poob vim lub hauv ntej ceg thawb lub cev mus rau saum huab cua. Hint ntawm tej yam uas yuav los…

Kauj Ruam 11: Yog li Dab Tsi Nws Tsis Tuaj?

Txog tam sim no, Kuv tsis tuaj yeem tau txais nws rau Master the Art of French Cooking (ntim 2) ntseeg tau. Nws zoo li 1 1/2 ntiv tes yog qhov txwv tam sim no kom nws tuaj yeem mus. Tej zaum txo qis pem hauv ntej kev sib hloov yuav pab tau? Tej zaum txo lub cev mus rau hauv av me ntsis? Saib cov yees duab. Ua tim khawv txog kev nyuaj siab ntawm kev swb. Damn koj Julia Menyuam!