Rascal parts:6 servosBreadboard bas

Rascal parts:
6 servos
Breadboard base, 2 breadboard clamps
Link for each finger, from base: (2), 3, 3, 5
Rubber bands on 5-links for gripping surface
Table-tennis ball
Safety marking tape, as always, around the robot's working area
User-supplied parts:
None
Fingers Construction
Page 13 of 48
Programming Notes for Fingers
# This script is provided for reference and is not expected to work well
# if typed in as-is. The numbers will all change for the robot you build.
# You can generate your own scripts by using Teach mode to create the moves
# then using those lines in macros.
# Fingers are composed of servos 1, 2, 3 and 4, 5, 6.
# We invert one finger for symmetric programming of servos 1&4, 2&5, 3&6.
invert 1, 2, 3 on; invert 4, 5, 6 off
# High accel, moderate speed gives crisp motion with light loads.
accdec all 200; maxspd all 25;
# Users can sometimes get an expanded swing range, but must
# remember not to leave servos pressing against internal stops, as
# this overheats them and reduces their life.
minpos all -1500; maxpos all 1500; # check for buzzing at limits
macro zpos; move all to 0; end # stands fingers straight up.
macro top; move 1, 4 to -280, 2, 5 to 100, 3, 6 to 250; end;
macro mid; move 1, 4 to 200, 2, 5 to 1100, 3, 6 to 750; end;
macro bot; move 1, 4 to 735, 2, 5 to maxpos, 3, 6 to 1000; end;
macro squat; top; mid; bot; mid; end;
# Macros for squatting action
macro rrub; move 1 to -280, 2 to 100, 3 to 250, 4 to 735, 5 to maxpos, 6 to 1000; end;
macro lrub; move 1 to 735, 2 to maxpos, 3 to 1000, 4 to -280, 5 to 100, 6 to 250; end;
macro rub; rrub; lrub; end;
Page 15 of 48
Golfer Project
This golfing robot can hit the ball about 16" (about 40 cm) to the first bounce, with good
repeatability. You will need to adjust the motion of the arm and the position of the golfer relative
to the tee so that the arc of the "club head" hits the ball cleanly off the tee. Real golfers often hit
both the tee and the ball, but in this project we'd rather not continually have to replace the tee
after each stroke.
The club head angle (servo 4) also affects the ball's arc.
During the swing itself, servo 4 probably should not move at all. However, for servos 1, 2 and 3
you will want their acceleration to be high but their deceleration low. Here's why If you have ever swung a golf club or baseball bat you already know something about the subject,
though you may not realize it: At the beginning of the swing you are pushing pretty hard to get
the club or bat moving fast; impact happens at about the middle of the swing, and after that the
bat or club continues around and slows to a stop: you don't try to stop with the same force that
you tried to start, though: This would be tough on your wrists, and would make your shoulders
and body shake a bit as you stopped the bat or club suddenly. It's the same thing with the robot:
The servos would be strained and the whole robot would shudder or jump. Avoid this, it upsets
the robots accuracy and is wearing on the servos.
So: Use high accel and lower decel.

Kết quả (Việt) 1:

Bộ phận Rascal:6 servoCơ sở breadboard, 2 breadboard kẹpLiên kết cho mỗi ngón tay, từ cơ sở: (2), 3, 3, 5Cao su ban nhạc ngày 5-liên kết cho gripping bề mặtBóng bàn bóngAn toàn băng, nhãn hiệu như mọi khi, xung quanh khu vực làm việc của robotBộ phận cung cấp người dùng:Không cóNgón tay xây dựngTrang 13 trên tổng 48Lập trình ghi chú cho ngón tay# Kịch bản này được cung cấp để tham khảo và không dự kiến sẽ làm việc tốt# Nếu gõ như-là. Những con số sẽ thay đổi tất cả cho robot bạn xây dựng.# Bạn có thể tạo ra kịch bản của riêng bạn bằng cách sử dụng chế độ Teach để tạo ra những chuyển động# sau đó bằng cách sử dụng các đường dây ở macro.# Ngón tay bao gồm các servo 1, 2, 3 và 4, 5, 6.# Chúng ta đảo ngược một ngón tay cho các chương trình đối xứng của servo 1 & 4, 2 & 5, 3 & 6.hoán đổi 1, 2, 3 đảo ngược 4, 5, 6 ra# Cao accel, các trung bình tốc độ cho các chuyển động sắc nét với tải nhẹ.accdec 200 tất cả; maxspd tất cả 25;# Người dùng có thể đôi khi nhận được một phạm vi rộng swing, nhưng phải# nhớ không để lại servo cách nhấn đối với điểm dừng nội bộ, như# Điều này overheats họ và làm giảm cuộc sống của họ.minpos tất cả-1500; maxpos 1500 tất cả; # kiểm tra ù tại giới hạnvĩ mô zpos; di chuyển tất cả đến 0; kết thúc # là viết tắt của ngón tay thẳng lên.vĩ mô đầu; di chuyển 1, 4-280, 2, 5-100, 3, 6 đến 250; kết thúc;vĩ mô giữa; di chuyển 1, 4 đến 200, 2, 5 để 1100, 3, 6 đến 750; kết thúc;vĩ mô bot; di chuyển 1, 4 để 735, 2, 5 để maxpos, 3, 6 đến 1000; kết thúc;ngồi xổm vĩ mô; đầu; giữa; bot; giữa; kết thúc;# Macro cho squatting hành độngvĩ mô rrub; di chuyển 1-280, 2-100, 3 để 250, 4 để 735, 5 để maxpos, 6 đến 1000; kết thúc;macro lrub; move 1 to 735, 2 to maxpos, 3 to 1000, 4 to -280, 5 to 100, 6 to 250; end;macro rub; rrub; lrub; end;Page 15 of 48Golfer ProjectThis golfing robot can hit the ball about 16" (about 40 cm) to the first bounce, with goodrepeatability. You will need to adjust the motion of the arm and the position of the golfer relativeto the tee so that the arc of the "club head" hits the ball cleanly off the tee. Real golfers often hitboth the tee and the ball, but in this project we'd rather not continually have to replace the teeafter each stroke.The club head angle (servo 4) also affects the ball's arc.During the swing itself, servo 4 probably should not move at all. However, for servos 1, 2 and 3you will want their acceleration to be high but their deceleration low. Here's why If you have ever swung a golf club or baseball bat you already know something about the subject,though you may not realize it: At the beginning of the swing you are pushing pretty hard to getthe club or bat moving fast; impact happens at about the middle of the swing, and after that thebat or club continues around and slows to a stop: you don't try to stop with the same force thatyou tried to start, though: This would be tough on your wrists, and would make your shouldersand body shake a bit as you stopped the bat or club suddenly. It's the same thing with the robot:The servos would be strained and the whole robot would shudder or jump. Avoid this, it upsetsthe robots accuracy and is wearing on the servos.
So: Use high accel and lower decel.