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Dobot magician robot arm - Introduction

2022-07-27 21:16:00 【Autumn Travel】

1. summary

Dobot Magician Manipulator is a desktop level intelligent manipulator , Support teaching reproduction 、 Script control 、Blockly Graphic programming 、 Write and draw 、 Laser engraving 、3D Print 、 Visual recognition and other functions , There is also a wealth of I/O Extension interface , For users' secondary development .

2. Product appearance and composition

Dobot Magician By the base 、 Big arm 、 Forearm 、 End tools, etc , The appearance is shown in the figure

3. Working principle and specification

3.1 working space

Dobot Magician The workspace of is shown in the figure Shown .

3.2 Coordinate system

Dobot Magician The coordinate system of can be divided into joint coordinate system and Cartesian coordinate system .

Joint coordinate system ： Coordinate system determined with reference to each moving joint .

if Dobot Magician End kit not installed , It contains three joints ：J1、J2、J3, And they are all rotating joints , Counter clockwise is positive .

if Dobot Magician Install the end kit with steering gear , Such as suction cup and clamping jaw Kit , It contains four joints ：J1、J2、J3 and J4, They are all rotating joints , Counter clockwise is positive .

Cartesian coordinate system ： Coordinate system determined with reference to the base of the manipulator .

The origin of the coordinate system is the boom 、 The intersection of the three axes of the three motors of the jib and the base .

X The axis direction is perpendicular to the fixed base and moves forward .

Y The axis direction is perpendicular to the fixed base to the left .

Z The axis conforms to the right-hand rule , Vertical upward is the positive direction .

R The axis is the attitude of the end steering gear center relative to the origin , Counter clockwise is positive . When the end kit with steering gear is installed , Just exist R Axis .R The axis coordinates are J1 Axis and J4 Sum of axis coordinates .

3.3 Motor function

The motion mode of the manipulator includes inching mode 、 Point mode （PTP）、 Circular motion mode （ARC）.PTP and ARC

It can be collectively referred to as save point reproduction motion mode .

3.3.1 Jog mode

Jog mode is the coordinate system of the mobile manipulator during teaching , Move the manipulator to a certain point .Dobot Magician My seat

The coordinate system can be divided into Cartesian coordinate system and joint coordinate system , The user can click the Cartesian coordinate system button or the joint coordinate system button to move

Boom .

3.3.2 Point mode （PTP）

Point mode is to realize point-to-point motion ,Dobot Magician The point pattern includes MOVJ、MOVL as well as JUMP

Three movement modes . Different movement modes , Save different motion points after playback .

MOVJ： Joint movement , from A Move to B spot , Each joint starts from A The joint angle corresponding to the point runs to B The joint angle corresponding to the point . During joint movement , The running time of each joint axis should be consistent , And reach the end at the same time , As shown in the figure .
MOVL： Straight line motion ,A Point to B The path of the point is a straight line , Pictured Shown .
JUMP： Door track ,A Point to B Click to MOVJ Motion mode mobile , Pictured Shown .
         With MOVJ The motion mode rises to a certain height （Height）.
         With MOVJ Motion mode pan to B At the height above the point .
         With MOVJ The motion mode drops to B Where the point is .

3.3.3 Arc mode （ARC）

Arc mode means that the motion track played back after teaching is arc . Arc trajectory is the arc of space , From the current point 、 Any point of the arc and the end point of the arc are determined together . The arc always passes through any point of the arc from the starting point to the end point , Pictured Shown .