Nkhani

DSPOWER idayamba mu 2013 ndipo ndi wopanga yemwe amayang'ana kwambiri kafukufuku ndi chitukuko, kupanga ndi maphunziro a robot servos,anzeru robot servos, ma drone servos, ndi zina zowonjezera.

Chiyambireni kukhazikitsidwa kwake, takhala tikuyang'ana zofunikira za maloboti ndi ma drone servos, ndikupanga ndikupanga zinthu za servo zoyenera kwa ogwiritsa ntchito roboti.

Lero, tigawana mayankho athu a robotic mkono.

Dzanja la robotiki limachita kuwongolera kuyenda, monga kubaya mzimu m'mafupa ake achitsulo, ndipo servo ndiye wamkulu wolondola kwambiri. Mu msonkhano wa R&D wa DSPOWER, tsiku lililonse timatha kuwona zigawozo zitasinthidwa kuchoka pazithunzi kukhala ovina amakina amoyo.

Lero, ndikufuna ndikuuzeni momwe servo imapangitsa kuti mkono wa robotiki uzigwira ntchito mosinthika ngati mkono wa munthu, zomwe zimaphatikizapo zida zonse zolumikizirana wina ndi mnzake komanso kukonza mwanzeru.

Momwe Servo Imawongolera Mbali ya Robotic Arm

The servo imaphatikizapo ndondomeko yanzeru kwambiri. Potentiometer imawunika momwe shaft ilili munthawi yeniyeni ikalandira chizindikiro chowongolera. Pambuyo pofananiza malowa ndi malo omwe akuwongolera, nthawi yomweyo imasintha kuzungulira kwa injini.

Zimenezi n’zofanana ndi kugwira chinthu ndi dzanja pamene mukutchinjiriza maso anu, pomwe zala zanu zimasintha pang’onopang’ono mpaka mutaziika bwinobwino. Ma seva omwe tawapangira mwaluso kuti azitsuka maloboti amagwiritsa ntchito kulumikizana kwamtundu wa TTL, kupangitsa kuti gulu lililonse lizipereka lipoti lodziyimira pawokha.Izi zimatsimikizira kuti pamene mkono wa robot umakhalabe pamtunda wokonzedweratu, cholakwikacho ndi chocheperapo madigiri 0.5.

Muzochita zenizeni, cholumikizira chilichonse mumkono wa robotic chiyenera kulumikizana mosiyanasiyana. Mwachitsanzo, pogwira kapu yopendekeka, servo ya dzanja iyenera kubwezera kupendekeka kwa digirii 15, pomwe servo ya phewa imakhala ndi chithandizo cha madigiri 30.

Kulumikizana kwamakona ambiri kumafuna kuti ma servos ayankhe mwachangu. Timagwiritsa ntchito makina azitsulo omwe amatha kukhala okhazikika ngakhale pansi pa 85 kgf.cm ya torque, monga kuwonjezera minofu yolimbana ndi kutopa ku mkono wa robotic.

Chifukwa chiyani kuli kofunikira kuti ma servos angapo azigwira ntchito limodzi?

Servo imodzi imatha kusinthasintha mosavuta, komabe mkono wa robotic uyenera kugwira ntchito ndi mphamvu yayikulu ya dzanja la munthu. Tangoganizani atanyamula cholembera ndikulemba; izi zimafuna kusuntha kogwirizana kwa dzanja, chigongono, ndi phewa.

Mu makina asanu a axis robotic vacuum vacuum opangidwa ndi mnzathu, kutsogolo siteji olowa servos kunyamula katundu, siteji yapakatikati olowa servos kulamulira kayendedwe kutambasuka, ndi mapeto siteji servos kuchita kayendedwe zabwino. Kugawanika kwa ntchito kumeneku kuli ngati gulu la oimba la symphony pakati pa zida zosiyanasiyana.

Mu multi servo system, kuwongolera nthawi ndikofunikira kwambiri. Nthawi ina tinali ndi vuto pamene mkono wa robot unagwedezeka pamene ukugwira dzira. Pambuyo pake tidazindikira kuti izi zidachitika chifukwa chakuchedwa kwa 10 millisecond pakuyankha kwa mkono ndi chala. Mwa kukonza kagawidwe ka ma sign a PWM, tidatha kulumikiza bwino ma servos onse, ngati kwaya yophunzitsidwa bwino. Tsopano, dongosololi limatha kugwira bwino dzira laiwisi popanda kuliphwanya.

Kodi torque ya servo imakhudza bwanji mkono wa robotic?

Zimenezi n’zofanana ndi mmene dzanja la munthu likugwedezeka.

Komabe, torque yapamwamba sikhala yabwinoko nthawi zonse. Torque yochulukira imakulitsa kugwiritsa ntchito mphamvu komanso kungayambitsenso zomanga zazikulu. Ma servos omwe tidapangira maloboti apakompyuta amathakwaniritsani ntchito zovuta kwambiri ndi torque ya 6.3 kgf.cm. Chofunikira ndikufananiza torque ndi zofunikira za mkono wa robotic, monganso posankha injini yagalimoto, simuyenera kutsata mphamvu zamahatchi nthawi zonse.

Momwe Mungasankhire Mtundu wa Robotic Arm Servo

Posankha mtundu wa servo, lingalirani momwe loboti imagwirira ntchito. Pamapulogalamu omwe amafunikira kuyambika ndikuyimitsa pafupipafupi, servo ya digito yokhala ndi brake imalimbikitsidwa. Mlandu wina wamakasitomala womwe tidakumana nawo unali ndi mzere wopanga makina omwe amafunikiramkono wa robot kuti ukwaniritse kuyimitsidwa kwanthawi 20 pamphindi. Ma seva wamba a analogi angavutike ndi zolakwika zochulukirachulukira, pomwe ma seva adijito, okhala ndi kutsitsimula kwawo kwakukulu, amathetsa vutoli.

Kufananiza miyeso ndikofunikiranso. M'mbuyomu, makasitomala ena adayika ma servos okhazikika m'manja opangidwa ndi robotic, zomwe zimapangitsa kuti kutentha kusakhale bwino. Pambuyo pake tinapanga servo yopangidwa mwapadera ya 26mm gripper, yomwe ndi 40% yaying'ono pamene tikusunga torque ya 3 kg·cm. Zili ngati kusoka zovala za mkono wa loboti—zimafunika kulola kuyenda momasuka popanda kumasuka kwambiri.

Kodi pali kusiyana kotani kwa ma protocol a servo control?

Protocol ya PWM, yofanana ndi conductor beat-beat, imatumiza malamulo kudzera m'lifupi mwake, pomwe TTL serial protocol, ngati kukambirana, imatha kutumiza magawo ovuta kwambiri. Mu labu ya DSPOWER, nthawi zambiri timafanizira ma protocol awiriwa.

PWM ndiyoyenera kuwongolera mfundo yosavuta, monga kuyatsa kapena kuzimitsa, pomweTTL imatha kupeza nthawi imodzi mazizindikiro angapo, monga malo, kutentha, ndi magetsi.

Pakadali pano, zida zochulukirachulukira zikugwiritsa ntchito njira zosakanizidwa, monga projekiti yathu ya bionic robotic arm. Kusuntha koyambira kumagwiritsa ntchito kuwongolera kwa PWM kuwonetsetsa kuti ikugwira ntchito munthawi yeniyeni, pomwe kukonza bwino ndi TTL kumatumiza magawo atsatanetsatane.

Izi zili ngati kuyendetsa galimoto, pomwe muyenera kugwiritsa ntchito ma pedals kuti muwongolere liwiro komanso dashboard kuti muwone momwe alili. Kusintha kosinthika kumeneku kumapangitsa kuti mikono ya robotiki igwirizane ndi malo ogwirira ntchito omwe akuchulukirachulukira.

Momwe Mungasinthire Kulondola kwa Kuwongolera kwa Servo

Kuwongolera zolondola kumafuna zonse za hardware ndi mapulogalamu. Mu hardware, timagwiritsa ntchito 0.1mm mwatsatanetsatane magiya makina kuti kuchepetsa kufala kubwerera. Wogula adatikugwedezeka kosalekeza kwa 2mm kumapeto kwa mkono wa robotic. Pambuyo pofufuza, tidapeza kuti izi zidachitika chifukwa cha kusintha kwa ma gear meshing.

Mwa kusintha magiya ndi dongosolo la helical gear, nkhaniyi inathetsedwa. Izi ndizofanana ndi kayendedwe ka wotchi: kulondola kwa giya lililonse kumakhudza kusunga nthawi.

Chofunikiranso ndi pulogalamuyo. Dongosolo lathu loletsa kugwedezeka limaneneratu kusuntha kwa mkono wa robotic ndikulipiritsa pasadakhale. Mwachitsanzo, ikaima mwadzidzidzi, imapanga chizindikiro chosinthira n’chosiyana kuti athetse kuwombera mopambanitsa chifukwa cha kudzidzidzimutsa, mofanana ndi mmene dalaivala wodziŵa bwino amamangira mabuleki mosamala kuti ayime mosalala, mopanda chopinga.