Robot solution

ying888

Robot solution [Copy link]

I want to make an XY platform composed of two rotating axes. How should I control it? What are the hardware and algorithms? I am a mechanical major and I don't know much about electronic control. If there are any relevant books or articles for reference, I hope you can help me!

fsyicheng

Hello, this is a robot similar to SCARA. Generally, this structure is used for transportation, so the algorithm may not be difficult to say. Of course, this only refers to the fact that you can use it. But if you use it to make products and need on-site programming, it is not at the same level. This is more complicated than the movement of the slide in your figure 1, because it needs to be converted into the actual position of the plane every time the angle changes. For you who are a friend majoring in mechanics, to be honest, you have a specialty in your studies, so you just need to do the hardware and cooperate with others on the system. If you are a student, then find someone from the electronics or computer department to complete it together. I am just talking casually. I am doing this kind of control system. It may be a problem of ability. I think this kind of system cannot be completed in a few words or a few days, so I give some suggestions. I hope it can be helpful to you.

dukedz

There is no difference. The external control interface of the scara morphological arm also has the form of xyz coordinate axes. Even if it is the angle of a single axis, it is just a matter of inversely solving the angle value corresponding to the xy coordinates using the trigonometric function in middle school. The z axis does not need to be processed. (Generally, only one posture is used. If posture conversion is required, it will not be too complicated.)

qwqwqw2088

If you study mechanics and electrical engineering, you can learn about mechanical and electrical control. You can learn a little about PLC control, which is relatively easy to learn compared to electronic digital control.

wjy548

You can learn from the firmware of the open source 3D printer and control it with G code