robot arm经典360度自由机械手臂搭建

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1、RobotArm123456789101112131415Thetwobracketsbuiltinthisstepareusedtoattachthearmmotortotheturntablebase. Youwillneedtoattachonebracketfirst,thenattachthearmmotor,thenattachthesecondbracket,asshownbelow.1617181920Fourwiresareneededinthisstep:1.Usetheshortestwir

2、etoconnectthetouchsensortoport1ontheNXT.2.UseoneofthelongestwirestoconnecttheclawmotortoportContheNXT.3.Useoneofthemedium-lengthwirestoconnecttheturntablemotortoportAontheNXT.4.Useoneofthemedium-lengthwirestoconnectthearmliftingmotortoportBontheNXT.RobotArmPr

3、ogrammingUsetheprogramArmControlfortheRobotArm. ThisprogramallowsyoutocontroltherobotarmusingtheLeft,Right,andEnterbuttonsontheNXTbrickandthetouchsensorbutton.UsingTheRobotArm·PressingtheorangeEnterbuttonontheNXTbrickwilltogglethecontrolsbetween"Rotate"and"Li

4、ft"modes.·In"Rotate"mode,thegrayleftandrightarrowbuttonsontheNXTbrickwillrotatethearmleftandrightaslongasyouholdthebuttondown.·In"Lift"mode,theleftandrightbuttonswillliftthearmupanddownaslongasyouholdthebuttondown.·Pressingthetouchsensorbuttonwillmaketheclaws

5、witchbetweengrabbingandreleasing.Theturntableandliftingarmmotorsbothusegearsto"geardown"themotion(decreasespeedandincreaseforce). Youwillnoticethatthiskeepsyoufrombeingabletoturnthemotorsbyhand.Toworkaroundthisproblem,youcanusethehandleonthesideofthearmliftin

6、gmotortoadjustthearm'sup/downpositionbyhandwhentheprogramisnotrunning. (WhentheprogramisrunningtheNXThastheelectricbrakesonthemotorsandwillnotallowthemtobeturnedbyhand).Thisdesigndoesnotincludeasimilarleverontheturntablemotor. Canyoufigureoutawaytoaddone?Chal

7、lenges·Practiceusingthecontrolstopickupandmoveobjects.  Hereisanexamplechallenge. Placetheredandblueballsontirestandsindifferentlocationsbutbothatthecorrectdistancefromthearmsothattheclawwillreachit,asshownbelow. Nowtrytousetherobotarmtoswapthepositionsofthet

8、woballs. Whatissmallestnumberofbuttonpressesthatyouthinkthiscanbedonein?·Thinkofsomemechanicalimprovementsyoumightmaketothisdesign. Forexample:oComeupwithawaytokeepthewiresoutoftheway.oAd