A friend sent a robot joint, all metal structure, more delicate workmanship, as shown in the picture
After investigation, this metal joint is derived from the Cruzr humanoid robot. It has a total of 15 degrees of freedom, two of which are fuselage joints, which are used to connect the fuselage and the bionic robot arm.
Key words:
hollow rotating platform, metal platform, rotating chassis of manipulator, robot joint, hollow metal turntable
The hollow rotating platform is driven by a motor (steering gear) to realize the automation of angle adjustment. Finished worm gear or gear drive, no limit for angle adjustment. The precision shaft system design ensures high precision and large load; the stepper motor and transmission parts are connected by imported high-quality elastic couplings to eliminate space and processing shape and position errors. The scale on the outer ring of the rotating table is intuitive; the standard interface is convenient for signal transmission; the manual handwheel configuration can be electronically controlled and manual. Optional servo motor or stepper motor.
Features
1. Hollow structure
The turntable of the hollow rotary platform is a hollow structure, and the servo motor is connected to the side, which is convenient for the installation of air pipes and wires in the jig.
2. High rigidity
The turntable of the hollow rotating platform is supported by a set of precision crossed roller bearings. The rollers in the bearings are staggered at 90 degrees, and the diameter of the rollers is slightly larger than the size of the raceway between the inner ring and the outer ring of the bearing, so that there is a preload between the inner and outer rings of the crossed roller bearing and the rollers. The turntable of the servo rotating platform supported by this bearing can withstand various moments such as radial, axial, and overturning, and its rigidity is more than 5 times that of traditional bearings.
3.
After the SR series servo rotary table with high rotation precision is assembled, the outer diameter and end face of the turntable are ground again with the cross roller bearing of the platform as the center of rotation (the standard grade is precision turning) to ensure the concentricity, parallelism and other shape and position tolerances of the turntable.
4. High repetitive positioning accuracy
The hollow rotary platform adopts a single-stage helical gear reduction method to increase the output torque. The gear precision grade is below 5 grades. In addition to the flexible gap adjustment mechanism, the backlash of the hollow rotary platform is extremely small by changing the center distance between the two gears, and the repeat positioning accuracy is below 5 arc seconds.
5. Arbitrary configuration of the motor
The hollow rotary platform can flexibly change the size of the interface by customizing the flange and the input shaft hole, which is suitable for connecting any brand of servo motor and stepper motor.
Here we are going to try to use different servos to control it, and found four different servos.
Because the installation specifications are larger, it is necessary to make a self-made rudder plate, which happens to be included in the S3003 accessories package.
Then eight holes were drilled according to the specification
Install the screws, and the steering wheel is fixed
Install steering gear
Use copper pillars as supports
a wooden board to act as a base
It's all installed like this, it's pretty solid
The models and specifications of the four experimental steering gears found are as follows:
Futaba S3003 steering gear 180 degrees 38 grams 5V 3.5KG/CM
MG996R metal steering gear 180 degrees 55 grams 5V 13KG/CM
MG996R metal steering gear 360 degrees 55 grams 5V 13KG/CM
CAN bus metal steering gear 360 degrees 220 grams 24V 60KG/CM
The first experiment, Futaba S3003 servo 180 degrees 38 grams 5V 3.5KG/CM
[Hua Diao DIY] Try to use different servos to control the hollow rotating platform (chassis of the robotic arm)
Project: The simplest servo motor program
/*
【花雕动手做】尝试使用不同舵机来控制中空旋转平台（机械臂底盘）
项目：最简单的伺服电机程序
*/
#include <Servo.h>
Servo myservo;
void setup() {
myservo.attach(9);
}
void loop() {
myservo.write(0);
delay(1000);
myservo.write(90);
delay(1000);
myservo.write(180);
delay(1000);
myservo.write(90);
delay(1000);
}
Arduino experiment scene diagram
[Hua Diao hands-on] Try to use different servos to control the hollow rotating platform (chassis of the robotic arm)
Project: Test the stepping rotation of the servo
/*
【花雕动手做】尝试使用不同舵机来控制中空旋转平台（机械臂底盘）
项目：测试舵机步进转动
*/
#include <Servo.h> // 声明调用Servo.h库
Servo myservo; // 创建一个舵机对象
int pos = 0; // 变量pos用来存储舵机位置
void setup() {
myservo.attach(9); // 将引脚9上的舵机与声明的舵机对象连接起来
}
void loop() {
for (pos = 0; pos < 180; pos += 1) {
// 舵机从0°转到180°，每次增加1°
myservo.write(pos); // 给舵机写入角度
delay(15); // 延时15ms让舵机转到指定位置
}
for (pos = 180; pos >= 1; pos -= 1) {
// 舵机从180°转回到0°，每次减小1°
myservo.write(pos); // 写角度到舵机
delay(15); // 延时15ms让舵机转到指定位置
}
}
Arduino experiment scene diagram
【HuaDiao hands-on】Try to use different servos to control the hollow rotating platform (chassis of the robotic arm)
Project: Use a 10K potentiometer module to control the position of the S3003 servo
/*
【花雕动手做】尝试使用不同舵机来控制中空旋转平台（机械臂底盘）
项目：使用10K电位器模块控制S3003舵机位置
*/
#include <Servo.h>
Servo myservo; // create servo object to control a servo
int potpin = 0; // analog pin used to connect the potentiometer
int val; // variable to read the value from the analog pin
void setup() {
myservo.attach(9); // attaches the servo on pin 9 to the servo object
}
void loop() {
val = analogRead(potpin); // reads the value of the potentiometer (value // between 0 and 1023)
val = map(val, 0, 1023, 0, 179); // scale it to use it with the servo (value
// between 0 and 180)
myservo.write(val); // sets the servo position according to the
// scaled value
delay(15); // waits for the servo to get there
}
Arduino experiment scene diagram
