Technology and life: starting with solar cars

Chapter 107

The imitation of other actions is also the same, as long as the mechanical arm is given two directions of force, it can ensure that the mechanical arm can move in the direction of the operator to make the action that the mecha operator wants the mecha to complete. As for the other two It doesn't matter if there is no force to support it in one direction, because the two forces in front have kept the mechanical arm in a certain posture, and it will not be affected by other directions at all.

After solving the problem of the mechanical arm, the next step is the design of the mechanical arm. The design of the mechanical arm is much simpler than that of the mechanical arm. Just give the mechanical arm two wire ropes to control the mechanical arm. , because the mechanical arm and the mechanical arm are linked together, the purpose of using four steel wire ropes for the mechanical arm is to control the position of the mechanical arm, as long as the position of the mechanical arm is fixed, the mechanical arm is connected to the mechanical When the big arms are connected together, they will naturally move with the movement of the mechanical big arm. At this time, the small mechanical arm does not need any mechanical force at all, and can realize its own movement simply by following the force of the mechanical big arm.

To put it bluntly, the design of the mechanical arm is to control the position of the entire arm, and the design of the mechanical forearm is to enrich the position of the arm, and to get more movements based on the original position of the mechanical arm. Complete a variety of needs, such as straight punches, swings or slaps, or various grasping actions of the arms.

The design of the mechanical forearm is much simpler than that of the mechanical forearm. It only needs to design two wire ropes to connect the upper and lower parts of the forearm. At this time, the mechanical forearm can realize the relative movement of the mechanical forearm through two steel wire ropes. The upward or downward movement of the mechanical arm.

The mechanical arm does not need to worry about the problem of pulling with only one force at all, because the mechanical arm and the mechanical arm are connected together. Since the connection between the mechanical arm and the mechanical arm is fixed, the mechanical arm There will be no other movements other than the two movements of up and down, and there is no need to worry about the direction of the mechanical forearm.

In comparison, the design of the small arm is much simpler than that of the large arm.

The situation like the mechanical forearm can be replaced by a rotating shaft. The design of this rotating shaft is the design of the traditional robot, and the angle of the rotating shaft is controlled by a gear or something else.At that time, it is only necessary to manipulate the angle of the rotating shaft to complete the directional movement of the mechanical forearm.

For example, the mechanical forearm is going to move upwards relative to the mechanical forearm. At this time, the motor needs to run. The operation of the motor drives the gear at the rotating shaft through the belt, and the rotation of the gear drives the movement of the mechanical forearm. At this time, the mechanical forearm Start to move towards the top of the relative mechanical arm, so that the movement of the mechanical forearm is completed.

The movement of the mechanical forearm can be said to be very simple, because it only needs to complete the upward or downward movement relative to the mechanical arm, and there is no need to move to the left or to the right at all, so the mechanical The design of the small arm is much simpler than that of the mechanical arm.

In terms of this design, can the rotating shaft on the traditional robot be used, and can it also be pulled by a wire rope? In fact, the purpose of both is the same. They are to realize that the mechanical forearm is moving upward or downward relative to the mechanical arm. upward movement.

The difference is that when the mechanical arm is in a horizontal position or other similar positions, it is fine to use a steel wire rope to pull the mechanical arm up, and there will be no accidents, but when the steel wire rope is used to pull it downward, the mechanical arm is small. The arm is likely to accelerate downward due to a little gravity, so if you use a steel wire rope on the mechanical arm, you can put a spring on the steel wire rope or use it between the mechanical arm and the mechanical arm The joints are connected in a way that is not particularly smooth, and the riveting will obviously go down under the action of gravity, so at this time, you can use gears at the joints of the mechanical arm or the mechanical arm without changing due to gravity. connection method.

If it is necessary to use a steel wire rope to connect the mechanical forearm, the steel wire rope of the mechanical forearm can be designed differently from the mechanical arm, which can also prevent the mechanical forearm from being disturbed by gravity.

If the mechanical arm is in a horizontal position or a similar position, if we want the mechanical arm to move down, we can use the effect of gravity to make the mechanical arm return to the horizontal position with the mechanical arm under the action of gravity When the mechanical forearm returns to the level position with the mechanical forearm, give a command to the steel wire rope of the mechanical forearm, so that the steel wire rope completes the upward movement relative to the mechanical forearm. At this time, it becomes the upper part of the mechanical forearm The steel wire rope is pulling the mechanical forearm, which means that the steel wire rope above the mechanical forearm is tight, so there is no need to be afraid that the mechanical forearm will fall naturally due to gravity.

Or use the traditional robot connection method, the method of using the rotating shaft can also be used, anyway, as long as the rotation of the mechanical forearm can be completed, it does not mean that there must be only one design method, any method is fine, as long as it can be designed The control of the final robotic arm will do.It’s not that there is no need to specify which method to use, that’s not necessary. What method to use to control the robotic arm depends not only on the operator’s needs, but also on the designer’s personal preferences.

Designers can design whatever they want, even if there are any problems in the early design, it’s okay, the big deal is to wait for the mecha version 2.0 to make changes, as long as the shortcomings of the mecha are corrected.

Or put a spring on the steel wire rope under the mechanical forearm. This spring can ensure that the steel wire rope cannot move the mechanical forearm in the downward direction too quickly. The specific spring size can be determined according to the weight of the mechanical forearm. Go to the design, and then let the elastic force of the spring offset the gravity of the mechanical forearm, so that the normal operation of the mechanical forearm can be realized.

If you don’t want to use the spring rope to cover the steel wire rope, you can also replace the steel wire rope with a metal rod with a relatively high stiffness. At this time, the metal rod will rotate with the rotation of the motor of the mechanical forearm. When the rotation of the mechanical forearm stops , because the lower way of the mechanical forearm is a hard and straight metal rod, which is equivalent to supporting the mechanical forearm to prevent the mechanical forearm from moving down due to the action of gravity, so that the position control of the mechanical forearm can also be realized.

It is also possible to use a steel wire rope and a metal rod.

(End of this chapter)