Quick completion guide for mechanical arm (zero): main contents and analysis methods of the guide

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Quick completion guide of mechanical arm （ zero ）： Main contents and analysis methods of the guide

Quick completion guide of mechanical arm （ One ）： The development of manipulator

Quick completion guide of mechanical arm （ Two ）： Application of mechanical arm

Write it at the front ：

• This guide is for me （ Automation major of a third rate University ） Experience summary of , So the content must be simple , Maybe it's easy to understand . I hope these articles can help you to enter the manipulator faster 🦾 The world of , If we can develop Punch Germany KUKA    Kick Switzerland ABB Robot arm , So much the better ;
• The content revolves around the six degree of freedom manipulator ;
• Suitable for beginners of mechanical arm ️、 Students who want to participate in the National University Biological Networking Design Competition ;
• Main reference books ：John J.Craig By 《 Introduction to Robotics 》、Christian Siriano Et al. 《 Robotics modeling 、 Planning and control 》;
• Recommend online classes ： Taida （NTU） Professor linpeiqun 🧑‍ Robotics ,PPT It's also very easy to use ;
• Want to use arduino（ Lower machine ）、matlab（ For simulation ）、python（ Write the upper computer , I use it vscode）、geogebra（ For drawing , Convenient for theoretical analysis ）、xmind（ To make a flow chart ）.

One 、 Main contents of the guide

1、 hardware system

         Matter is the carrier of all appearances , To learn mechanical arm , Obviously, we need to know what is needed to control the manipulator ： 

• connecting rod —— It's your arm 🦾
• The joints —— Just like your joints
• End actuators —— Equivalent to your hand ️, It is installed at the end of the mechanical arm , Clamping claw 、 Suction cups and so on
• The motor —— For driving joints
• Lower machine —— Single chip microcomputer , You have to use it to tell the robot how to move
• Motor drive —— Control the mechanical arm together with the single chip microcomputer
• retarder —— Increase the torque of the motor , Give it a lift
• Transmission mechanism —— Hinge 、 gear 、 Screw and so on
• Encoder —— Check the rotation of the manipulator joint , For closed-loop control
• Limit switch —— It can be used to calibrate the manipulator
• brake —— It is used to lock the lower joint in case of power failure , Prevent the mechanical arm from being injured
• DC regulated power supply —— Supply power to the manipulator and the lower computer
• Love for robotic arms ️‍—— This is the top priority

The mechanical arm I use ,AR3, Not bad. ？

Lower machine （ Fruit body state ）

  ​​​​​​2. Kinematic analysis

         The movement of the mechanical arm Learning can be said to be The most critical content 了 . Think of the whole body of the manipulator as anus rigid body , Through kinematic analysis , It can rotate the angle through the joint of the manipulator （ For rotating joints ） Get where the end is 、 Towards where （ Postures ）, You can also use the mechanical arm where it is 、 Towards where （ Postures ） Get the rotation angle of the manipulator joint （ For rotating joints ）.

        The main contents of manipulator kinematics include the use of standards DH Method to complete the kinematics modeling of the manipulator 、 Forward kinematics solution 、 Inverse kinematics solution 、 Solution of reachable workspace .

3. Trajectory planning

         The end of the mechanical arm is from A Move to B A point must leave a path of motion in space , We call the relationship between path and time as trajectory . We definitely want the manipulator to move along the desired trajectory , So trajectory planning came into being .

        This guide describes 5 A simple and practical trajectory planning method , No, A* Algorithm 、B Spline 、NURBS Something like that , Not to mention deep learning ...

Two 、 Guide the analysis method

1. The theoretical analysis

        Theoretical analysis is definitely necessary , There are Many, many, many matrix operations .

It must be written   Please ignore my words

2. Computer simulation

        We don't have the condition to measure the motion state of each joint of the manipulator ,solidworks Modeling is not very good , not so bad matlab Are there in RTB The tool box saved me from fire and water , Kinematic modeling and analysis 、 It can be used for trajectory planning .🪄

RTB Teaching in the tool box （teach） Interface

3. The practical application

        It's a mule or a horse that has to be pulled out for a stroll . Write the corresponding program to the upper computer （ Responsible for calculation ） And the lower computer （ Responsible for controlling the motor 、 Limit switch 、 brake ） in , And use AE Track the trajectory it actually leaves in space .

notes ：AE The usage is explained in another article of mine .《 Use AE（After Effects） Describe the moving path of an object （ A little tracking ）》https://blog.csdn.net/m0_53966219/article/details/124682733?spm=1001.2014.3001.550

The tracking effect is very good , At least visualization

          meanwhile , Referring to the national standard, I designed a method to use two dial indicators to detect the repeated positioning accuracy of the manipulator （ Relatively rough ）, The purpose is Quantify the control effect of the manipulator , This is still very important .

        I choose to use two dial indicators for measurement because I have enough money to buy two .

It's pathetic , I can only afford two dial indicators , The blue thing at the end of the robot arm is a cold medicine capsule