Nkhani

Kuti mkono wa loboti uzitha kuyenda momasuka komanso kugwira bwino zinthu, chofunika kwambiri ndi kulamulira bwinobwino mfundo zake. Apa ndipamene ma servo motors amasewera gawo lawo. Monga gawo lapakati pa mkono wa robotic, mota ya servo imatembenuza ma siginecha amagetsi kuti akhale oyenda bwino, motero amakwaniritsa malo ndi kuwongolera kwa mkono wa robotic.

Kumvetsetsa momwe ma servo motors amawongolera zida zamaloboti ndi gawo lofunikira kwambiri pakupanga ndi kupanga maloboti.

Kodi mfundo yayikulu yoyendetsera servo motor ya mkono wa robotic ndi iti?

Galimoto ya servo imakhala ndi mota yaying'ono ya DC, seti ya giya, ndi potentiometer yoyankha. Mukatumiza chizindikiro chowongolera, dera lowongolera limafanizira chizindikirocho ndi ngodya yapano yomwe ikubwezeredwa ndi potentiometer.

Ngati pali kusagwirizana, injini imayamba, pogwiritsa ntchito zida zomwe zimayikidwa kuti zichedwetse ndikuwonjezera torque, zomwe zimapangitsa kuti shaft yotuluka ikhale yozungulira mpaka ikafika pomwe idayikidwa ndikuyima. Dongosolo lotsekera lotsekekali limatsimikizira kulondola kwa kuwongolera ma angle.

Kwa mikono ya robotic,gulu lililonse lili ndi servo. Pogwirizanitsa ma angles ozungulira a ma servo motors, mapeto a mkono wa robotic amatha kutsata njira yokonzedweratu mumlengalenga.

Mwachitsanzo, kupanga magawo atatu a ufulu wa robotiki kunyamula chikho choyikidwa patebulo, ma servo motors a paphewa, chigongono, ndi mafupa a dzanja ayenera kugwirira ntchito limodzi kuti awerengere ndikuchita kusintha kwa ngodya kosalekeza.

Chifukwa chiyani ma servo motors ali oyenera kuwongolera mkono wa robotic?

Servo ali ndi mwayi waukulu: kuphatikiza kwakukulu. Amakhala ndi injini, zida zochepetsera, ndikuwongolera mayendedwe onse mkati mwa nyumba yaying'ono, zomwe zimapatsa opanga njira yothetsera "plug and play".

Opanga zida za roboticsimuyenera kugula ma mota ndi madalaivala padera, komanso safunika kupanga zovuta kusintha magawo a PID. Izi zimachepetsa kwambiri chotchinga cholowera kumanja kwa robotic ndikufupikitsa njira yachitukuko.

Ma torque omwe amaperekedwa ndi servo motor ndiyofunikira pa mkono wa robotic. Pamene mkono wa robot ufika pamalo omwe akukhudzidwa, ngakhale utasokonezedwa ndi mphamvu zakunja, galimoto ya servo idzapitiriza kupereka mphamvu kuti ikhalebe ndi ngodya ndipo motero imasonyeza "mphamvu yogwira".

Ndi chikhalidwe ichi chomwe chimathandiza kuti mkono wa robotiki ugwire zinthu mokhazikika kapena kuti usamapatukane ndi momwe udakhazikitsira pomwe ulandira kugundana pang'ono.

Momwe Mungasankhire Chitsanzo Choyenera cha Servo cha Robotic Arm

Posankha servo motor, torque ndi liwiro ndiye magawo awiri ofunikira kwambiri. Torque imatsimikizira "mphamvu" ya servo motor, kuipangitsa kuti igonjetse torque yopangidwa ndi kulemera kwa maulalo a mkono wa robotic ndi katundu. Njira yosavuta yowerengera ndiyoti torque yomwe imafunikira pamgwirizano iyenera kukhala nthawi 1.5 kuposa torque yomwe imapangidwa ndi maulalo ndi katundu.

Kuthamanga kumakhudza kusuntha kwa mkono wa robotic; kutsika mtengo, monga 0.1 sec/60 °, kumayenda mofulumira.

Zamaphunziro kapena ma projekiti apakompyuta a robotic arm, wambaChithunzi cha DS-R003Bmtundu wamagalimoto nthawi zambiri umakhala poyambira wabwino wokhala ndi mtengo wabwino kwambiri.

Kodi mtundu wanji wa chizindikiro cha servo motor control ndi chiyani?

Ma Servo amagwiritsa ntchito kwambiri ma sign a PWM (Pulse Width Modulation) kuti aziwongolera. Kuthamanga kwamphamvu sikudziwika ndi mlingo wa voteji, koma ndi nthawi yake. Nthawi yowongolera kugunda kwamtima nthawi zambiri imakhala ma milliseconds 20.

Panthawi imeneyi, kutalika kwa chizindikiro chapamwamba kumasiyana pakati pa 0,5 ndi 2.5 milliseconds. Kuthamanga kumeneku kumagwirizana mwachindunji ndi kusuntha kwa angular kwa shaft yotuluka kuchokera ku 0 ° mpaka 180 °.

Makamaka, kugunda kwa 0.5ms nthawi zambiri kumafanana ndi malo a 0 °, 1.5ms mpaka 90 ° malo osalowerera ndale, ndi 2.5ms ku malo a 180 °. Muyenera kugwiritsa ntchito madoko a I/O a microcontroller kuti mupange mawonekedwe amtunduwu ndi m'lifupi mwake.

Kodi mungakonzekere bwanji kayendedwe ka mkono wa robotic?

Chofunikira kwambiri pakugwiritsa ntchito mapulogalamu kuti muwongolere maulamuliro angapo amtundu wa robotic ndi kuwerengera kwa kinematic. Muyenera kukhazikitsa ubale wamapu kuchokera ku "malo olumikizana" kupita ku "Cartesian space."

Kutengera kusuntha kwa mzere wa kumapeto kwa mkono wa robot mwachitsanzo, muyenera kuwerengera njira yowongokayi molunjika, ndikuisintha kukhala ma angles angapo omwe amasintha pakapita nthawi pagawo lililonse lolumikizana.

Mu mapulogalamu enieni, inu choyambakonzekerani njira yomwe mukufuna yogwira ntchito yomaliza ya mkono wa robotic. Kenako, pogwiritsa ntchito kinematics inverse, mumawerengera mbali yomwe servo iliyonse iyenera kuzungulira munthawi yeniyeni.

Bungwe lowongolera limatumiza ma sign a PWM ku servo iliyonse motsatizana, kuwonetsetsa kuti afika pamalo omwe asankhidwa nthawi imodzi kapena motsatizana. Izi zimakwaniritsa kayendedwe kosalala, kogwirizana kophatikizana.

Mavuto Odziwika Pomanga Servo Mounted Robotic Arm

Kwa oyamba kumene, vuto lofala kwambiri ndiloti zida za robotic zimatha kugwedezeka kapena kulephera kufika pamalo awo molondola. Izi nthawi zambiri zimayamba chifukwa chosakwanira magetsi. Pamene ma servos angapo akugwira ntchito nthawi imodzi, zojambula zamakono zimakhala zapamwamba kwambiri, zomwe doko la USB la kompyuta kapena phukusi losavuta la batri silingathe kukumana, zomwe zimayambitsa kutsika kwamphamvu kwamagetsi.

Yankho lake ndikugwiritsa ntchito mphamvu yosiyana, yoyendetsedwa ndi mphamvu zokwanira, ndikuwonjezera capacitor yayikulu molingana ndi chingwe chamagetsi cha servo chilichonse kuti chiteteze zomwe zikuchitika.

Kusakhazikika kwamakina komwe kumatsogolera kumagulu olimba kwambiri ndi vuto lina lofala. Kugwedezeka kwamapangidwe kumawononga torque ya servo, pomwe kulumikizidwa kolimba kwambiri kumawonjezera kukana. Zonse ziwirizi zingayambitse kuyika kwa servo molakwika komanso ngakhale kutentha kwambiri.

Onetsetsani kuti mbali za mkono wanu wa roboti zakonzedwa bwino, zolumikizidwa bwino, komanso kutimbale zoyendetsa servo zimayikidwa bwino popanda kutsetsereka. Kuonjezera kuchedwa koyenera koyenda mu code kungalepheretsenso kugwedezeka kwa servo chifukwa chakuwombera.