Kuti ruoko rwerobhoti rugone kufamba zvakanaka uye kubata zvinhu nemazvo, chinhu chinokosha ndechokunyatso kudzora majoini aro ose. Apa ndipo chaipo panotamba servo motors. Seyepakati dhiraivha chikamu cheiyo robhoti ruoko, iyo servo mota inoshandura masaini emagetsi kuita chaiyo angular kufamba, nekudaro kuwana chinzvimbo cherobhoti ruoko uye kutonga.
Kunzwisisa kuti servo motors inodzora sei robhoti maoko idanho rakakosha kupinda munyika yekugadzira marobhoti nekugadzira.
Ndeipi musimboti wekutanga we servo mota kutonga kwerobhoti ruoko?
Servo mota ine diki DC mota, seti yegiya, uye chinzvimbo mhinduro potentiometer. Paunotumira chiratidzo chekutonga, dunhu rekutonga rinofananidza chiratidzo icho nekona yazvino inodzoserwa ne potentiometer.
Kana paine mutsauko, mota inotanga, ichishandisa giya rakaiswa kunonoka uye kuwedzera torque, zvichiita kuti shaft yekubuda itenderere kusvika yasvika panzvimbo yakatarwa uye yamira. Iyi yakavharwa-loop control system inovimbisa kurongeka kwekona kutonga.
Zvemaoko emarobhoti,imwe neimwe yakabatanidzwa ine servo. Nekurongedza makona ekutenderera eakawanda servo motors, iyo yekupedzisira mhedzisiro yerobhoti ruoko inogona kutevedzera yakafanotemerwa trajectory muchadenga.
Semuyenzaniso, kuita matatu dhigirii rerusununguko robhoti ruoko tora kapu yakaiswa patafura, servo mota dzebendekete, gokora, uye majoini emaoko anofanirwa kushanda pamwechete kuverenga nekuita nhevedzano yekuenderera kwekuchinja kwekona.
Nei servo mota dzakakodzera kurobhoti ruoko kutonga?
Servo ine mukana wakakosha: kubatanidzwa kwepamusoro. Ivo vanoisa mota, giya rekudzikisa, uye kudzora matunhu ese ari mukati mecompact imba, vachipa vanogadzira "plug uye yekutamba" mhinduro.
Vagadziri vemaoko eRobhotihazvidi kutenga mota nevatyairi zvakasiyana, uye havafanire kuita yakaoma PID parameter tuning. Izvi zvinoderedza zvakanyanya chipingamupinyi chekupinda kwemaoko erobhoti uye kupfupisa kutenderera kwekusimudzira.
Iyo torque yekutandarira yakapihwa ne servo mota yakakosha kune iro robhoti ruoko. Pane imwe nguva ruoko rwerobhoti runosvika panzvimbo yakatarisa, kunyange kana ichikanganiswa nemasimba ekunze, servo motokari icharamba ichipa simba rekuchengetedza kona uye nokudaro kuratidza imwe dhigirii ye "kubata simba".
Ndiwo hunhu uhu hunogonesa ruoko rwerobhoti kuti ribate zvinhu zvakagadzikana kana kuti kusabva pachimiro chekare kana chawana kudhumhana kudiki.
Maitiro ekusarudza iyo Yakarurama Servo Model yeRobotic Arm
Pakusarudza servo mota, torque uye kumhanya ndiwo maviri akanyanya kukosha paramita. Torque inosarudza "simba" reiyo servo mota, ichiigonesa kukunda torque inogadzirwa nehuremu hwemajoini eruoko rwerobhoti uye mutoro. Nzira yekufungidzira iri nyore ndeyokuti torque inodiwa pajoinhi inofanira kunge iri kanenge ka1.5 torque inogadzirwa nezvisungo uye mutoro.
Kumhanya kunobata kutsetseka kweiyo robhoti ruoko kufamba; iyo yakaderera kukosha, yakadai se 0.1 sec / 60 °, iyo inokurumidza kufamba.
Yedzidzo kana desktop robotic ruoko mapurojekiti, the commonDS-R003B Servomota modhi inowanzova yakanaka yekutangira ine yakanakisa mutengo inoshanda.
Ndeipi iyo chaiyo fomati ye servo mota yekudzora chiratidzo?
Servos anoshandisa zvakanyanya PWM (Pulse Width Modulation) masiginecha ekudzora. Iyo yekudzora pulse haina kutariswa neiyo voltage level, asi nehurefu hwayo. A standard control pulse period inowanzoita 20 milliseconds.
Munguva iyi, nguva yechiratidzo chepamusoro inosiyana pakati pe 0.5 uye 2.5 milliseconds. Iyi pulse hupamhi inoenderana zvakananga neangular displacement yekubuda shaft kubva 0 ° kusvika 180 °.
Kunyanya, 0.5ms pulse width inowanzoenderana ne0 ° chinzvimbo, 1.5ms kusvika 90 ° nzvimbo isina kwaakarerekera, uye 2.5ms kune 180 ° chinzvimbo. Iwe unofanirwa kushandisa iyo microcontroller's I/O ports kugadzira iyi pulse waveform ine hupamhi hwakati.
Nzira yekuronga sei kurongeka kwekufamba kwerobhoti ruoko?
Chinhu chakanyanya kukosha chekushandisa programming kudzora yakawanda dhigirii yerusununguko robhoti ruoko rwuri mukinematic kuverenga. Iwe unofanirwa kumisa hukama hwemepu kubva ku "nzvimbo yakabatana" kuenda ku "Cartesian space."
Kutora mutsara wekufamba kweiyo robhoti ruoko yekupedzisira effector semuenzaniso, iwe unofanirwa kuverenga iyi nzira yakatwasuka uchienda kune yakatarisana, uchishandura kuita kutevedzana kwemakona anochinja nekufamba kwenguva kune yega yega servo.
Muchirongwa chaicho, iwe kutangaronga iyo yaunoda trajectory yerobhoti ruoko yekupedzisira effector. Zvadaro, uchishandisa inverse kinematics, iwe unoverenga kona yakanangwa iyo servo yega yega inofanirwa kutenderera panguva chaiyo.
Bhodhi rekutonga rinobva ratumira masaini anowirirana ePWM kune yega yega servo zvakateerana, kuve nechokwadi kuti vanosvika panzvimbo yavo yakatarwa panguva imwe chete kana mukutevedzana. Izvi zvinowana mafambiro akatsetseka, akarongeka anoumbwa.
Matambudziko Akajairwa Pakuvaka Servo Yakamisikidzwa Robhoti Arm
Kune vanotanga, dambudziko rinowanzoitika nderekuti marobhoti ruoko majoini anogona kudedera kana kutadza kunyatsosvika panzvimbo dzawo. Izvi zvinowanzokonzerwa nekusakwana kwemagetsi. Kana masevhisi akawanda ari kushanda panguva imwe chete, kudhirowa kwazvino kwakakwira zvakanyanya, iyo komputa USB port kana nyore bhatiri pack haigone kusangana, zvichitungamira kudonhedza kwakapinza kwemagetsi.
Mhinduro ndeyekushandisa yakaparadzana, yakadzorwa magetsi ekupa nesimba rakakwana, uye kuwedzera yakakura capacitor inopindirana kune yega yega servo's tambo yemagetsi kuvharira kudiwa kwazvino.
Kusakwana kwemechani kuomarara kunotungamira kune yakanyanya kusimba kusangana nderimwe dambudziko rakajairika. Structural wobbling ichabvisa servo torque, nepo kuungana kwakanyanyisa kuchawedzera kupokana. Mamiriro ese ari maviri aya anogona kutungamira kune isina kurongeka servo chinzvimbo uye kunyangwe kupisa.
Ita shuwa kuti nhengo dzako dzemarobhoti dzakagadzirwa chaizvo, dzakabatana zvakachengeteka, uye kutiservo drive mahwendefa akaiswa zvakanaka pasina kutsvedza. Kuwedzera kunonoka kwekufamba mukodhi kunogonawo kudzivirira servo vibration nekuda kwekudarika.
Nguva yekutumira: Oct-31-2025