_SKU_ROB0115__Explorer_OA1机械臂 - jimaobian/DFRobotWikiCn GitHub Wiki

机械臂整体图(280px)

简介

Explorer OA1开源机械臂是专门为创客爱好者设计的一款金属四轴机械臂。本机械臂的主体结构全部采用铝合金加工而成， 关节部分均采用高精密级的轴承连接，驱动舵机均采用高质量金属齿轮舵机。整体精致、美观、耐用。 我们的机械臂能做什么？ 1、标准套件中集成了气压吸嘴的所有配件。吸附重量最大可达500克。 2、标准套件中集成了机械夹持器，可以轻松做有趣的夹持应用。 3、我们的机械臂主板romeo mini BLE集成了蓝牙4.0 。 4、可以使用PC、iphone、手柄等多种终端来无线控制机械臂。我们免费提供客户端程序。 5、我们免费提供气压吸嘴配件、夹持器配件、核心算法程序、PC端程序、手机客户端，通讯协议， 6、你可以使用arduino代码无限拓展机械臂的功能。比如你可以用机械臂来画画、写字、下棋、帮你夹取物品、甚至在纸上画出数学函数图。

产品规格

本套件包含以下零配件：

1、完整的机械结构零件、连接线、开关-------1套
2、控制板-------------------------------1个
3、气压传感器----------------------------1个
4、大力矩金属齿轮舵机--------------------3个
5、微型MG90金属齿轮舵机------------------1个
6、完整的底座云台配件--------------------1套
7、气泵、电磁阀、气嘴、气管、三通---------1套
8、机械夹持器完整套件--------------------1套

提供多套完整的实例程序，详情请见装箱清单。

技术参数：

1、整机尺寸（收拢状态）：直径200mm×高270mm
2、机械臂工作范围：半径R：41mm~154mm，高度H：0~108mm
3、整机重量：1.5kg
4、底座云台最大旋转角度：180度

工作范围立面(280px) 工作范围顶面(280px)

装箱清单


序号	名称	编号	单位	数量
1	尾架底板	A1	件	1
2	尾架顶板	A2	件	1
3	电机支架1	A3	件	1
4	电机支架2	A4	件	1
5	右侧舵机支撑	A5	件	1
6	左侧舵机支撑	A6	件	1
7	前臂	A7	件	2
8	左后臂	A8（L）	件	1
9	右后臂	A8（R）	件	1
10	左后支臂	A9（L）	件	1
11	右后支臂	A9（R）	件	1
12	前支臂	A10	件	1
13	三角架	A11	件	1
14	后小臂	A12	件	1
15	多功能支架	A13	件	1
16	舵机安装架	A14	件	1
17	吸嘴支板下	A15	件	1
18	吸嘴支板上	A16	件	1
19	连接件	A17	件	1
20	大底盘	A18	件	1
21	电磁阀	B1	件	1
22	气泵	B2	件	1
23	控制板	B3	件	1
24	气压传感器	B4	件	1
25	开关	B5	个	1
26	插座	B6	个	1
27	舵机DF15RMG	B7	个	3
28	MG90舵机	B8	个	1
29	光电接触板	B9	个	1
30	舵机延长线	B10	根	3
31	电源适配器	B11	个	1
32	USB数据线	B12	条	1
33	云台壳体	C1	件	1
34	轴承	C2	件	1
35	云台转台	C3	件	1
36	云台底盖	C4	件	1
37	蘑菇头吸盘	C5	个	6
38	真空吸盘	C6	件	1
39	吸嘴	C7	件	1
40	遮光环	C8	件	1
41	三通	C9	件	1
42	硅胶软气管	C10	米	1.5
43	PU小气管	C11	米	0.2
44	M2×6螺丝	N1	颗	3
45	M2螺帽	N2	颗	2
46	M3×4螺丝	N3	颗	9
47	M3×6螺丝	N4	颗	51
48	M3×8螺丝	N5	颗	25
49	M3×14螺丝	N6	颗	2
50	M3弹垫	N7	颗	8
51	M3螺帽	N8	颗	14
52	M4×6螺丝	N9	颗	1
53	M4×10自攻螺丝	N10	颗	4
54	M2.3×6自攻螺丝	N11	颗	6
55	M3×10自攻螺丝	N12	颗	6
56	M3×4mm立柱	N13	颗	4
57	M3×11立柱	N14	颗	11
58	M3X12mm立柱	N15	颗	4
59	M3×15mm单通立柱	N16	颗	4
60	M3×17mm立柱	N17	颗	2
61	M3×40mm立柱	N18	颗	4
62	M2×4螺丝	N19	颗	1
63	备用螺丝包	N20	套	1
64	金属舵机盘	N21	个	2
65	舵机垫片	N22	个	2
66	塑料舵机盘	N23	个	1
67	MG90舵机连杆	N24	个	1
68	MG90舵机圆盘	N25	个	1
69	ROB0131机械夹持器	N26	套	1
70	小号两用螺丝刀	N27	个	1
71	说明书		份	1

产品装箱清单

资料下载

使用说明： 组装时注意所有舵机均需要校准到90度位置才能进行安装固定，否则可能导致舵机控制异常 机械臂既可以由我们开发的电脑端上位机软件“arm_tool”来进行控制，同时也支持arduino编程控制。

arm_tool控制方式操作方法： 1、下载“控制板固件”，解压后将“explorerOA1V1.0”文件夹导入arduino库文件，然后烧录explorerOA1.ino程序 2、下载“PC端软件”，解压后双击运行“arm_tool.exe”，打开串口即可进行控制

arduino编程控制：根据“库函数说明文档”实用arduino ide进行编程控制

全部资料打包下载：

链接：https://pan.baidu.com/s/1Nskn4huiu-WHNc2ZP-6FyA

提取码：t4b8

机械夹持器产品资料链接1
PC端软件下载
romeoBLE mini产品资料链接2

示例程序

直线位移

/*!
 * @file exampleLineMove.ino
 * @brief DFRobot's explorer OA1 Mechanical arm
 * @n ino file for DFRobot's explorer OA1 Mechanical arm
 *
 * @copyright   [DFRobot](http://www.dfrobot.com), 2016
 * @copyright   GNU Lesser General Public License
 * @n [Connection and Diagram](http://wiki.dfrobot.com.cn/index.php?title=(SKU:ROB0115)_Explorer_OA1%E6%9C%BA%E6%A2%B0%E8%87%82)
 * @author [Zc]([email protected])
 * @version  V1.0
 * @date  2016-03-22
 */

#include "DFRobotOA1Calculation.h"
#include "DFRobotOA1Setting.h"
#include "DFRobotOA1Control.h"
#include <Servo.h>

DFRobotOA1Control  control;                 // initialize the OA1 Control library
DFRobotOA1Setting mySetting;                // initialize the OA1 Setting library
int buttonState = 0;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);                    //start serial port at 115200 bps
  mySetting.ServoSetting();                 //to set the Servo port
  mySetting.setMyarm(140,152,50);           //to set the OA1 arms lengths
  mySetting.initialization(155,0,40,1);     //initialize the OA1 coordinates
}

void loop() {
  // put your main code here, to run repeatedly:
   LineMove(100,100,100,5);                   // Linear movement to the coordinates
   delay(1000);
   LineMove(100,-100,100,5);                  // Linear movement to the coordinates
   delay(1000);
}

极坐标位移

/*!
 * @file examplePolarControl.ino
 * @brief DFRobot's explorer OA1 Mechanical arm
 * @n ino file for DFRobot's explorer OA1 Mechanical arm
 *
 * @copyright   [DFRobot](http://www.dfrobot.com), 2016
 * @copyright   GNU Lesser General Public License
 * @n [Connection and Diagram](http://wiki.dfrobot.com.cn/index.php?title=(SKU:ROB0115)_Explorer_OA1%E6%9C%BA%E6%A2%B0%E8%87%82)
 * @author [Zc]([email protected])
 * @version  V1.0
 * @date  2016-03-22
 */

#include "DFRobotOA1Calculation.h"
#include "DFRobotOA1Setting.h"
#include "DFRobotOA1Control.h"
#include <Servo.h>

DFRobotOA1Control  control;                 // initialize the OA1 Control library
DFRobotOA1Setting mySetting;                // initialize the OA1 Setting library

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);                    //start serial port at 115200 bps
  mySetting.ServoSetting();                 //to set the Servo port
  mySetting.setMyarm(140,152,50);           //to set the OA1 arms lengths
  mySetting.initialization(155,0,40,1);     //initialize the OA1 coordinates
}

void loop() {
  // put your main code here, to run repeatedly:
   for(int i=0;i<80;i++)
   {
     control.LeftTurn();                //turn left
     delay(10);
   }
   for(int i=160;i>0;i--)
   {
     control.RightTurn();              //turn right
     delay(10);
   }
   for(int i=0;i<80;i++)
   {
     control.LeftTurn();               //turn left
     delay(10);
   }
  for(int i=0;i<50;i++)
   {
     control.Spread();                 //spread
     delay(10);
   }
   for(int i=100;i>0;i--)
   {
     control.Shrink();                 //shrink
     delay(10);
   }
   for(int i=0;i<50;i++)
   {
     control.Spread();                 //spread
     delay(10);
   }
}

笛卡尔坐标位移

/*!
 * @file exampleDescareControl.ino
 * @brief DFRobot's explorer OA1 Mechanical arm
 * @n ino file for DFRobot's explorer OA1 Mechanical arm
 *
 * @copyright   [DFRobot](http://www.dfrobot.com), 2016
 * @copyright   GNU Lesser General Public License
 * @n [Connection and Diagram](http://wiki.dfrobot.com.cn/index.php?title=(SKU:ROB0115)_Explorer_OA1%E6%9C%BA%E6%A2%B0%E8%87%82)
 * @author [Zc]([email protected])
 * @version  V1.0
 * @date  2016-03-22
 */

#include "DFRobotOA1Calculation.h"
#include "DFRobotOA1Setting.h"
#include "DFRobotOA1Control.h"
#include <Servo.h>

DFRobotOA1Control  control;                 // initialize the OA1 Control library
DFRobotOA1Setting mySetting;                // initialize the OA1 Setting library

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);                    //start serial port at 115200 bps
  mySetting.ServoSetting();                 //to set the Servo port
  mySetting.setMyarm(140,152,50);           //to set the OA1 arms lengths
  mySetting.initialization(155,0,40,1);     //initialize the OA1 coordinates
}

void loop() {
  // put your main code here, to run repeatedly:
   for(int i=0;i<50;i++)
   {
     control.xup();                             //Along the x coordinate forward
     delay(10);
   }
   for(int i=100;i>0;i--)
   {
     control.xdown();                          //Along the x coordinate backward
     delay(10);
   }
   for(int i=0;i<50;i++)
   {
     control.xup();                            //Along the x coordinate forward
     delay(10);
   }
  for(int i=0;i<50;i++)
   {
     control.yup();                           //Along the y coordinate forward
     delay(10);
   }
   for(int i=100;i>0;i--)
   {
     control.ydown();                         //Along the y coordinate backward
     delay(10);
   }
   for(int i=0;i<50;i++)
   {
     control.yup();                          //Along the y coordinate forward
     delay(10);
   }
   for(int i=0;i<50;i++)
   {
     control.up();                           //Along the z coordinate forward
     delay(10);
   }
   for(int i=100;i>0;i--)
   {
     control.down();                         //Along the z coordinate backward
     delay(10);
   }
   for(int i=0;i<50;i++)
   {
     control.up();                           //Along the z coordinate forward
     delay(10);
   }
}

机械臂手腕控制

/*!
 * @file exampleElbowControl.ino
 * @brief DFRobot's explorer OA1 Mechanical arm
 * @n ino file for DFRobot's explorer OA1 Mechanical arm
 *
 * @copyright   [DFRobot](http://www.dfrobot.com), 2016
 * @copyright   GNU Lesser General Public License
 * @n [Connection and Diagram](http://wiki.dfrobot.com.cn/index.php?title=(SKU:ROB0115)_Explorer_OA1%E6%9C%BA%E6%A2%B0%E8%87%82)
 * @author [Zc]([email protected])
 * @version  V1.0
 * @date  2016-03-22
 */

#include "DFRobotOA1Calculation.h"
#include "DFRobotOA1Setting.h"
#include "DFRobotOA1Control.h"
#include <Servo.h>

DFRobotOA1Judgment judgment;                // initialize the OA1 Judgment library
DFRobotOA1Control  control;                 // initialize the OA1 Control library
DFRobotOA1Setting mySetting;                // initialize the OA1 Setting library

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);                    //start serial port at 115200 bps
  mySetting.ServoSetting();                 //to set the Servo port
  mySetting.setMyarm(140,152,50);           //to set the OA1 arms lengths
  mySetting.initialization(155,0,40,1);     //initialize the OA1 coordinates
}

void loop() {
  // put your main code here, to run repeatedly:
   for(int i=0;i<85;i++)
   {
     control.rroll();                   //Turn Right wrist
     delay(10);
   }
   for(int i=170;i>0;i--)
   {
     control.lroll();                   //Turn left wrist
     delay(10);
   }
   for(int i=0;i<85;i++)
   {
     control.rroll();                  //Turn Right wrist
     delay(10);
   }

}

机械爪控制

/*!
 * @file exampleClawControl.ino
 * @brief DFRobot's explorer OA1 Mechanical arm
 * @n ino file for DFRobot's explorer OA1 Mechanical arm
 *
 * @copyright   [DFRobot](http://www.dfrobot.com), 2016
 * @copyright   GNU Lesser General Public License
 * @n [Connection and Diagram](http://wiki.dfrobot.com.cn/index.php?title=(SKU:ROB0115)_Explorer_OA1%E6%9C%BA%E6%A2%B0%E8%87%82)
 * @author [Zc]([email protected])
 * @version  V1.0
 * @date  2016-03-22
 */

#include "DFRobotOA1Calculation.h"
#include "DFRobotOA1Setting.h"
#include "DFRobotOA1Control.h"
#include <Servo.h>

DFRobotOA1Control  control;                 // initialize the OA1 Control library
DFRobotOA1Setting mySetting;                // initialize the OA1 Setting library

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);                    //start serial port at 115200 bps
  mySetting.ServoSetting();                 //to set the Servo port
  mySetting.setMyarm(140,152,50);           //to set the OA1 arms lengths
  mySetting.initialization(155,0,40,1);     //initialize the OA1 coordinates
}

void loop() {
  // put your main code here, to run repeatedly:
   for(int i=0;i<28;i++)
   {
     control.cls();                      //Paw closed
     delay(10);
   }
   for(int i=65;i>0;i--)
   {
     control.ope();                     //Paw open
     delay(10);
   }
   for(int i=0;i<37;i++)
   {
     control.cls();                     //Paw closed
     delay(10);
   }
}

气泵控制

/*!
 * @file examplePumpControl.ino
 * @brief DFRobot's explorer OA1 Mechanical arm
 * @n ino file for DFRobot's explorer OA1 Mechanical arm
 *
 * @copyright   [DFRobot](http://www.dfrobot.com), 2016
 * @copyright   GNU Lesser General Public License
 * @n [Connection and Diagram](http://wiki.dfrobot.com.cn/index.php?title=(SKU:ROB0115)_Explorer_OA1%E6%9C%BA%E6%A2%B0%E8%87%82)
 * @author [Zc]([email protected])
 * @version  V1.0
 * @date  2016-03-22
 */

#include "DFRobotOA1Calculation.h"
#include "DFRobotOA1Setting.h"
#include "DFRobotOA1Control.h"
#include <Servo.h>

DFRobotOA1Control  control;                 // initialize the OA1 Control library
DFRobotOA1Setting mySetting;                // initialize the OA1 Setting library

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);                    //start serial port at 115200 bps
  mySetting.ServoSetting();                 //to set the Servo port
  mySetting.setMyarm(140,152,50);           //to set the OA1 arms lengths
  mySetting.initialization(155,0,40,1);     //initialize the OA1 coordinates
}

void loop() {
  // put your main code here, to run repeatedly:
  control.pumpOn();                   //pump on
  delay(5000);
 control.pumpOff();                   //pump off
 control.valveOn();                   //valve on
 delay(1000);
 control.valveOff();                  //valve off
}

气压传感器气泵控制

/*!
 * @file exampleBaroceptorControl.ino
 * @brief DFRobot's explorer OA1 Mechanical arm
 * @n ino file for DFRobot's explorer OA1 Mechanical arm
 *
 * @copyright   [DFRobot](http://www.dfrobot.com), 2016
 * @copyright   GNU Lesser General Public License
 * @n [Connection and Diagram](http://wiki.dfrobot.com.cn/index.php?title=(SKU:ROB0115)_Explorer_OA1%E6%9C%BA%E6%A2%B0%E8%87%82)
 * @author [Zc]([email protected])
 * @version  V1.0
 * @date  2016-03-22
 */

#include "DFRobotOA1Calculation.h"
#include "DFRobotOA1Setting.h"
#include "DFRobotOA1Control.h"
#include <Servo.h>

const int analogInPin = pressure_SENSOR;
DFRobotOA1Control  control;                 // initialize the OA1 Control library
DFRobotOA1Setting mySetting;                // initialize the OA1 Setting library

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);                    //start serial port at 115200 bps
  mySetting.ServoSetting();                 //to set the Servo port
  mySetting.setMyarm(140,152,50);           //to set the OA1 arms lengths
  mySetting.initialization(155,0,40,1);     //initialize the OA1 coordinates
}

void loop() {
  // put your main code here, to run repeatedly:
  sensorValue = analogRead(analogInPin);
  if(sensorValue>180)
  {
    control.pumpOff();                          //air pumpoff
  }
  else if(sensorValue<180)
  {
    control.pumpOn();                          //air pumpon
  }
}

更多问题及有趣的应用，可以 访问论坛 进行查阅或发帖！ |}

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