Bouw een Opneembare Kartonnen Robotarm – Eenvoudige DIY met Arduino & Servo's

Onderdelen en Benodigdheden

Benodigde Tools en Machines

• Lijmpistool (algemeen)

Apps en Online Services

• Arduino IDE
• Python

Over dit Project

Dit is een eenvoudige robotarm die posities kan opnemen en afspelen. Hij is gemaakt van gemakkelijk verkrijgbare materialen zoals karton en lijm, wat de bouwwijze zeer toegankelijk maakt.

Je bedient de arm via een grafische interface op de computer die gegevens naar de Arduino stuurt. Er zijn schuifregelaars voor elke servo, en knoppen om posities op te nemen en af te spelen. Je kunt opnames ook opslaan en laden.

Instructies

1. Sjabloon printen en knippen: Download de karton sjabloon uit de sectie "Custom Parts and Enclosures" onderaan de pagina. Print het uit en knip de onderdelen uit karton.
2. Arm samenstellen: Volg de videogids (begint op 0:22) voor de montage van de arm.
3. Schakeling bouwen: Bouw de schakeling op basis van het schema onderaan de pagina.
4. Arduino code uploaden: Download de "Robot Arm Arduino Code" uit de Code-sectie (tweede tab) en upload deze naar de Arduino.
5. Python interface voorbereiden: Download de "Python User Interface" code (eerste tab in Code-sectie). Je hebt Python nodig (download via python.org) en de PySerial bibliotheek (pip install pyserial).
6. Systeem testen: Sluit de arm aan, start de Python-code en voer de COM-poort van de Arduino in (te vinden in Apparaatbeheer op Windows). Klaar voor gebruik!

Tip: Werkt het niet? Verhoog dan time.sleep(0.15) op regel 20 van de Python-code naar 0.2 of 0.3.

Code

Python User Interface

from tkinter import *
from tkinter import filedialog
import serial
import time

port_opened = False

def set_port():
    global port_opened, arduino
    com_port = port_input.get()
    arduino = serial.Serial(com_port, 9600)
    port_opened = True
    print("COM port set to: " + com_port)

def send_positions(position):
    message = "{0:0=3d}".format(position[0]) + "{0:0=3d}".format(position[1]) + \
              "{0:0=3d}".format(position[2]) + "{0:0=3d}".format(position[3]) + \
              "{0:0=3d}".format(position[4]) + "\n"
    arduino.write(str.encode(message))
    print(message, end='')
    time.sleep(0.2)

saved_positions = []

def save_positions():
    saved_positions.append([servo1_slider.get(), servo2_slider.get(), servo3_slider.get(), servo4_slider.get(), servo5_slider.get()])
    print("saved positions: " + str(saved_positions))

def play_positions():
    for position in saved_positions:
        print("playing: " + str(position))
        send_positions(position)
        time.sleep(1)

def clear_all_positions():
    global saved_positions
    saved_positions = []
    print("cleared all positions")

def clear_last_positions():
    global saved_positions
    removed = saved_positions.pop()
    print("removed: " + str(removed))
    print("saved positions: " + str(saved_positions))

def open_file():
    global saved_positions
    filename = filedialog.askopenfilename(initialdir="/", title="Select a File", filetypes=(("Text files", "*.txt*"), ("all files", "*.*")))
    file = open(filename, "r")
    data = file.read()
    saved_positions = eval(data)
    file.close()
    print("opened: " + filename)

def save_file():
    save_file = filedialog.asksaveasfile(mode='w', defaultextension=".txt")
    save_file.write(str(saved_positions))
    save_file.close()
    print("saved file")

def instructions():
    print("1.) Set the Arduino's COM port and click Enter. This can be found in Device Manager in Windows")
    print("2.) Move the arm's servos using the sliders")
    print("3.) To record a position, click on Record Position")
    print("4.) To replay the recorded positions, click on Replay Positions")
    print("\nTo save what you've recorded, go to File > Save File.")
    print("To open a previously saved file, go to File > Open File.")

window = Tk()
window.title("Robot Arm Controller 2")
window.minsize(355, 300)

port_label = Label(window, text="Set Port:")
port_label.place(x=10, y=10)
port_input = Entry(window)
port_input.place(x=10, y=35)
port_button = Button(window, text="Enter", command=set_port)
port_button.place(x=135, y=32)

servo1_slider = Scale(window, from_=180, to=0)
servo1_slider.place(x=0, y=100)
servo1_label = Label(window, text="Servo 1")
servo1_label.place(x=10, y=80)

servo2_slider = Scale(window, from_=180, to=0)
servo2_slider.place(x=70, y=100)
servo2_label = Label(window, text="Servo 2")
servo2_label.place(x=80, y=80)

servo3_slider = Scale(window, from_=180, to=0)
servo3_slider.place(x=140, y=100)
servo3_label = Label(window, text="Servo 3")
servo3_label.place(x=150, y=80)

servo4_slider = Scale(window, from_=180, to=0)
servo4_slider.place(x=210, y=100)
servo4_label = Label(window, text="Servo 4")
servo4_label.place(x=220, y=80)

servo5_slider = Scale(window, from_=180, to=0)
servo5_slider.place(x=280, y=100)
servo5_label = Label(window, text="Servo 5")
servo5_label.place(x=290, y=80)

save_button = Button(window, text="Record Position", command=save_positions)
save_button.place(x=10, y=220)
clear_button = Button(window, text="Clear Last Position", command=clear_last_positions)
clear_button.place(x=120, y=220)
clear_button = Button(window, text="Clear All Positions", command=clear_all_positions)
clear_button.place(x=120, y=255)
play_button = Button(window, text="Replay Positions", command=play_positions, height=3)
play_button.place(x=250, y=220)

menubar = Menu(window)
filemenu = Menu(menubar, tearoff=0)
filemenu.add_command(label="Open File", command=open_file)
filemenu.add_command(label="Save File", command=save_file)
menubar.add_cascade(label="File", menu=filemenu)

editmenu = Menu(menubar, tearoff=0)
editmenu.add_command(label="Clear last position", command=clear_last_positions)
editmenu.add_command(label="Clear all positions", command=clear_all_positions)
menubar.add_cascade(label="Edit", menu=editmenu)

helpmenu = Menu(menubar, tearoff=0)
helpmenu.add_command(label="How to use (printed in console)", command=instructions)
menubar.add_cascade(label="Help", menu=helpmenu)

window.config(menu=menubar)

while True:
    window.update()
    if port_opened:
        send_positions([servo1_slider.get(), servo2_slider.get(), servo3_slider.get(), servo4_slider.get(), servo5_slider.get()])

Robot Arm Arduino Code

#include 
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo5;
int servoPositions[5];

void setup() {
    Serial.begin(9600);
    servo1.attach(3);
    servo2.attach(5);
    servo3.attach(6);
    servo4.attach(9);
    servo5.attach(10);
}

void loop() {
    while(Serial.available()){
        String input = Serial.readStringUntil('\n');
        servoPositions[0] = input.substring(0,3).toInt();
        servoPositions[1] = input.substring(3,6).toInt();
        servoPositions[2] = input.substring(6,9).toInt();
        servoPositions[3] = input.substring(9,12).toInt();
        servoPositions[4] = input.substring(12,15).toInt();
    }
    servo1.write(servoPositions[0]);
    servo2.write(servoPositions[1]);
    servo3.write(servoPositions[2]);
    servo4.write(servoPositions[3]);
    servo5.write(servoPositions[4]);
    delay(500);
}

Schema

Zie het schakelschema voor de juiste bedrading van alle componenten.