Views: 166 Author: Site Editor Publish Time: 2024-08-06 Origin: Site
An intelligent carving robot with three-axis linkage
Control and drive
The actuator of the robot adopts the combination of stepper motor and lead screw to realize the accurate grasp of the walking distance. The lower machine uses Arduino UNO as the controller, the controller outputs the control pulse to make the stepper motor operate, and connects the lead screw through the coupling. When the stepper motor gives 5 pulses, the lead screw advances 1cm, so that the advance distance of the lead screw can be accurately controlled. When the stepper motor turns a step Angle, the lead screw moves forward or backward a short distance, so only the output pulse needs to be calculated to achieve accurate control of the distance. To run the stepper motor, electrical pulses with sufficient power and frequency should be added to each control winding in the selected sequence. The pulse distributor receives the control pulse signal and direction level, and generates each phase control winding signal according to the state sequence required by the distribution mode of the stepper motor. Each time a control pulse comes, there is at least one change in the output signal of the pulse distributor, and the output state is converted once, and the speed of the stepper motor, the rise and fall, the start and stop completely depend on the control pulse state. The control pulse generator is programmed in the Arduino IDE to make the Arduino generate control pulse signals and direction levels. Stepper motor drive module adopts A4988. A4988 is a DMOS microstep driver with overcurrent protection and converter, in the "step" input a pulse, you can drive the motor to produce microstep. As long as the control STEP and DIR can be,STEP is the control pulse input end DIR is the direction level input end; The three mode selection end MS1, MS2, MS3 are all grounded, that is, the full step mode of the stepper motor, if higher accuracy is required, you can choose other modes, such as choosing 1/4 step mode, the motor will send 800 microsteps to complete a turn.
Communication mode - asynchronous serial
The actuator of the robot adopts the combination of stepper motor and lead screw to realize the accurate grasp of the walking distance. The lower machine uses Arduino UNO as the controller, the controller outputs the control pulse to make the stepper motor operate, and connects the lead screw through the coupling. When the stepper motor gives 5 pulses, the lead screw advances 1cm, so that the advance distance of the lead screw can be accurately controlled. When the stepper motor turns a step Angle, the lead screw moves forward or backward a short distance, so only the output pulse needs to be calculated to achieve accurate control of the distance. To run the stepper motor, electrical pulses with sufficient power and frequency should be added to each control winding in the selected sequence. The pulse distributor receives the control pulse signal and direction level, and generates each phase control winding signal according to the state sequence required by the distribution mode of the stepper motor. Each time a control pulse comes, there is at least one change in the output signal of the pulse distributor, and the output state is converted once, and the speed of the stepper motor, the rise and fall, the start and stop completely depend on the control pulse state. The control pulse generator is programmed in the Arduino IDE to make the Arduino generate control pulse signals and direction levels. Stepper motor drive module adopts A4988. A4988 is a DMOS microstep driver with overcurrent protection and converter, in the "step" input a pulse, you can drive the motor to produce microstep. As long as the control STEP and DIR can be,STEP is the control pulse input end DIR is the direction level input end; The three mode selection end MS1, MS2, MS3 are all grounded, that is, the full step mode of the stepper motor, if higher accuracy is required, you can choose other modes, such as choosing 1/4 step mode, the motor will send 800 microsteps to complete a turn. DS5500 servo control circuit adopts asynchronous serial communication mode and unified control through UART asynchronous serial interface. The control form of computer - control board - steering gear can be used to control the steering gear. On the computer, the processed target coordinates are sent to the AVR MCU in the control board through serial port, and then the control instructions are sent to the steering gear through the UART asynchronous serial interface to make the steering gear perform actions according to the requirements. In the UART asynchronous serial interface part,CDS5500 and Robotis Dynamixel communication protocol MCU uses RS232 communication protocol and realizes communication protocol conversion through the interface part. The control program is used to control the sequence of UART asynchronous serial interface and realize the communication of half duplex serial bus.