Pololu-Romi-Arm-Utiliser
Première expérience avec les servo?
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En cours de traduction/élaboration. |
Hobby servos are small, modular actuators developed by the radio control (RC) hobby industry for remote manipulation of everything from miniature boat rudders and car steering linkages to model airplane flaps and toy parachutist release mechanisms. If you are new to servos, this series of “Engage Your Brain” blog posts has some great information to familiarize you with different types of servos available, how they work, and how to control them.
- Introduction to an introduction to servos
- Introduction to servos
- Gettin’ all up in your servos
- Servo, servo motor, servomotor
- Electrical characteristics of servos and introduction to the servo control interface
- Servo control interface in detail
- Simple hardware approach to controlling a servo
- Simple microcontroller approach to controlling a servo
- Advanced hobby servo control pulse generation using hardware PWM
- Advanced hobby servo control using only a timer and interrupts
- RC servo speed control
- Continuous-rotation servos and multi-turn servos
Vue d'ensemble
The Robot Arm Kit for the Romi comes with one micro servo for the gripper and two standard-sized servos for moving the arm. All three of these servos are specially modified with an additional wire that gives access to the potentiometer feedback inside the servo. The micro gripper on the end of the arm uses a rack and pinion design with the pinion gear mounted to the servo spline and opposing racks to keep the gripper paddles synchronized and parallel to each other throughout the range of motion. Lifting an object will generally cause the Romi to tilt forward, so we highly recommend using the optional second ball caster in the front of the Romi. Additionally, using a rubber band to increase the stiffness of the built-in suspension on the une bille en roue libre avant (optionnelle) can help stabilize the robot. The recommended maximum payload of the arm is 3.5 oz (100 g).
Alimenter les servos
All three of the servos have a nominal operating voltage of 4.8 V to 6 V. The larger lift and tilt servos can briefly draw up to around 1.8 A each when commanded to move abruptly, but the typical current draw should be under an amp each. The stall current of the micro gripper servo is approximately 0.8 A at 6 V.
The Romi chassis has multiple power options built into the battery compartment, as discussed in Options d'alimentation of the Romi Chassis User’s Guide. If you are using the 4 battery configuration with the Romi chassis, you can power the servos from the battery voltage. Please note that using all six batteries in series can result in voltages upwards of 9 V with fully-charged NiMH batteries, so you should not power your servos directly from the batteries in this configuration. In this case you can use a step-down voltage regulator from Pololu such as our "6V, 2.5A Step-Down Voltage Regulator D24V22F6" lien pololu to safely power the servos.
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If you use the "Power Distribution Board for Romi Chassis" lien pololu, it defaults to getting power from all six batteries, but it can be reconfigured to be powered from four cells; see the board’s product page for more information. |
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En cours de traduction/élaboration. |
Basé sur "Guide utilisateur du bras Romi" de Pololu (https://www.pololu.com/docs/0J76) - Traduit en Français par shop.mchobby.be CC-BY-SA pour la traduction
Toute copie doit contenir ce crédit, lien vers cette page et la section "crédit de traduction". Traduit avec l'autorisation expresse de Pololu (www.pololu.com)
Based on "Pololu Romi Arm User’s Guide" from Pololu (https://www.pololu.com/docs/0J76) - Translated to French by shop.mchobby.be CC-BY-SA for the translation
Copies must includes this credit, link to this page and the section "crédit de traduction" (translation credit). Translated with the Pololu's authorization (www.pololu.com)