3D Luam Snake Robot: 7 Kauj Ruam (nrog Duab)

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:25

Thaum kuv tau txais kuv lub tshuab luam ntawv 3D kuv pib xav tias kuv tuaj yeem ua dab tsi nrog nws. Kuv tau luam ntau yam tab sis kuv xav ua kom tag nrho kev siv 3D luam ntawv. Tom qab ntawd kuv xav txog kev ua neeg hlau. Kuv thawj lub tswv yim yog ua dev lossis kab laug sab, tab sis ntau tus neeg twb tau ua dev thiab kab laug sab. Kuv tau xav txog qee yam sib txawv thiab tom qab ntawd kuv xav txog nab. Kuv tsim tag nrho cov nab hauv fusion360, thiab nws zoo li txaus kuv thiaj xaj cov khoom tsim nyog thiab tsim ib qho. Kuv xav tias qhov tshwm sim yog qhov zoo. Ntawm cov vis dis aus saum toj no koj tuaj yeem pom yuav ua li cas kuv tau ua lossis koj tuaj yeem xav txog nws hauv qab no.

Kauj Ruam 1: Qhov Chaw

Nov yog yam peb yuav xav tau:

• 8 Micro servo motors
• Qee qhov luam tawm 3D
• Ntsia Hlau
• 3,7V li-po roj teeb
• Qee qhov ua PCB (atmega328 SMD, capacitor 100nF, capacitor 470μF, resistor 1, 2k, qee qhov kub). Nws yog ib qho tseem ceeb heev uas yuav tsum ua PCB rau txoj haujlwm no vim tias thaum koj txuas txhua yam ntawm daim txiag ntoo koj tus nab yuav txav tsis tau.

Kauj Ruam 2: Cov Qauv 3D

Aboove koj tuaj yeem pom kev pom ntawm tus nab no. Cov ntaub ntawv (.stl) koj tuaj yeem rub tawm ntawm no lossis ntawm kuv qhov khoom sib txawv. Qee cov ntaub ntawv hais txog kev teeb tsa rau kev luam ntawv:

Rau kev luam ntu thiab lub taub hau Kuv pom zoo kom ntxiv raft. Supports yog qhov tsis tsim nyog rau txhua yam khoom. Infill tsis tseem ceeb vim tias txhua tus qauv yog nyias heev thiab yuav luag tsuas yog ib puag ncig tab sis kuv siv 20%.

Koj xav tau:

8x nab_seg

1x taub hau

1x nab_back

Kauj Ruam 3: PCB

Hauv qab no koj tuaj yeem pom cov ntaub ntawv dav dawb hau (.sch thiab.brd) tsuas yog rub lawv qhib hauv dav dawb hau mus rau pawg saib pom nyem ctrl + p thiab luam tawm. Yog tias koj tsis paub yuav ua PCB koj tuaj yeem xav txog nws ntawm no:

www.instructables.com/id/PCB-making-guide/

Ntawm cov phiaj xwm tau sau tseg tias microcontroller yog atmega8 tab sis nws yog atmega328 nws muaj tib tus pinout tab sis ther tsis muaj atmega328 hauv eagle.

Kauj ruam 4: Sib dhos

Tom qab luam tawm txhua ntu koj tuaj yeem sib sau ua ke. Muab servo tso rau hauv ib qho ntawm ntu, ntsia hlau nws mus rau ntu nrog M2 ntsia hlau thiab tom qab ntawd ntsia hlau ntu tom ntej mus rau sab caj npab. Yog tias koj tsis paub yuav ua li cas sib dhos nws koj tuaj yeem saib hauv video.

Kauj ruam 5: Kev sib txuas

Ntawm daim duab saum toj no koj tuaj yeem pom qhov twg thiab yuav txuas dab tsi. Kuv kuj cim qhov twg yog MISO, MOSI thiab SCK tus pin koj xav tau tus pin no los hlawv bootloader. Xav paub ntau ntxiv txog hlawv bootloader koj tuaj yeem reed ntawm cov nplooj ntawv arduino ntawm no:

www.arduino.cc/en/Tutorial/ArduinoToBreadboard

Koj xav tau programmer lossis lwm tus arduino los hlawv nws. Tom qab hlawv koj tuaj yeem ua haujlwm nws siv USB-UART hloov pauv lossis tib tus kws tshaj lij uas koj siv rau hlawv bootloader.

Tom qab rub tawm cov program koj tuaj yeem txuas servo rau board. Qhov kev pabcuam zaum kawg (qhov kawg ntawm tus nab) yog servo 1 thiab servo 8 yog qhov ze tshaj ntawm lub taub hau ntawm nab.

Tsis muaj ib qho ruaj khov ntawm lub rooj tsavxwm yog li qhov siab tshaj plaws uas koj tuaj yeem txuas rau nws yog 5V.

Atmega ntxiv rau servo motors yuav ua haujlwm nrog 3, 7V Li-Po thiab kuv pom zoo kom siv nws rau txoj haujlwm no vim tias nws me me thiab muaj zog heev. Koj tuaj yeem pom nws hauv cov khoom ua si RC qub (Kuv pom kuv lub qub RC qhov siab).

Kuv ntxiv rau pawg thawj coj saib RX thiab TX rau kev ua haujlwm tab sis tseem rau kev nthuav dav yav tom ntej, koj tuaj yeem txuas rau ntawm cov ntsuas no lossis piv txwv. bluetooth modulus.

Kauj Ruam 6: Txoj Haujlwm

Txoj haujlwm siv software tsev qiv ntawv servo los tswj 8 servos ib zaug. Nws tsuas yog nce ntxiv thiab txo qis txoj haujlwm servo nrog kev hloov pauv me me kom ua raws li nthwv dej. Ua tsaug rau qhov kev txav no nws zoo li tus kab mob tab sis tseem txav tau zoo dua.

Yog tias koj nyiam koj tuaj yeem hloov qeeb tom kawg ntawm lub voj. Qhov qeeb no tswj kev ceev ntawm nab. Yog li yog tias koj muab tus nqi me me nws yuav txav nrawm dua, tus nqi siab dua = txav qeeb dua. Kuv muab 6 vim tias qhov no yog qhov nrawm tshaj plaws uas tus nab tsis ntog. Tab sis koj tuaj yeem sim nrog qhov no.

Koj tseem tuaj yeem hloov qhov siab tshaj plaws thiab tus nqi tsawg kawg los ua kom txav mus los loj dua.

#suav nrog

SoftwareServo servo1, servo2, servo3, servo4, servo5, servo6, servo7, servo8;

int b_pos, c_pos, d_pos, e_pos; Txoj hlua hais kom ua; int qhov sib txawv = 30; int kaum1 = 90; int kaum ob = 150;

int ser1 = 30;

int ser2 = 70; int ser3 = 110; int ser4 = 150;

yam tsawg kawg nkaus = 40;

int siab tshaj = 170;

bool increment_ser1 = tseeb;

bool increment_ser2 = muaj tseeb; bool increment_ser3 = tseeb; bool increment_ser4 = tseeb;

bool increment_ser5 = tseeb;

koj ser5 = 90;

bool increment_ser6 = muaj tseeb;

int ser6 = 90;

void teeb tsa () {

Serial.begin (9600); servo1.attach (3); servo2.attach (5); servo3.attach (6); servo4.attach (9); servo5.attach (10); cov. servo6.attach (11); servo7.attach (12); servo8.attach (13);

servo1.write (90);

servo2.write (130); cov. servo3.write (90); servo4.write (100); servo5.write (90); servo6.write (90); servo7.write (90); servo8.write (90);

}

void voj () {

rau pem hauv ntej (); SoftwareServo:: rov ua dua tshiab (); }

void rau pem hauv ntej () {

yog (increment_ser1) {

ser1 ++; } lwm {ser1--; }

yog (ser1 siab tshaj plaws) {

increment_ser1 = tsis tseeb; }

servo1.write (ser1);

yog (increment_ser2) {

ser2 ++; } lwm {ser2--; }

yog (ser2 siab tshaj plaws) {

increment_ser2 = tsis tseeb; }

servo3.write (ser2);

yog (increment_ser3) {

ser3 ++; } lwm {ser3--; }

yog (ser3 siab tshaj plaws) {

increment_ser3 = tsis tseeb; }

servo5.write (ser3);

yog (increment_ser4) {

ser4 ++; } lwm {ser4--; }

yog (ser4 siab tshaj plaws) {

increment_ser4 = tsis tseeb; }

servo7.write (ser4);

ncua (6);

}

Kauj Ruam 7: Xaus

Kuv xav tias tus neeg hlau no zoo li zoo heev. Kuv xav ua tus nab neeg hlau tab sis finnaly kuv tau ua qee yam uas zoo ib yam li cov cab. Tab sis ua haujlwm zoo heev. Yog tias koj muaj lus nug dab tsi tawm lus lossis sau ntawv rau kuv: [email protected]

koj tseem tuaj yeem nyeem txog tus neeg hlau no ntawm no ntawm kuv lub vev xaib (hauv Polish):

nikodembartnik.pl/post.php?id=3

Tus neeg hlau no yeej thawj qhov khoom plig ntawm Robots Festival hauv Chorzów hauv qeb ywj pheej.

Qhov khoom plig thib ob hauv Robotics Contest 2016