Description
Product Description
一、Scheme Outline
The PRS300 is designed to meet the teaching practice of robotics projects. The practical content involves robot mechanism, robot motion control technology, sensor and detection technology, machine vision, robot modeling and simulation, robot operating system and other courses, which can be used for robotics, mechanical and electrical related majors, intelligent manufacturing majors, automation majors, electronic information majors to carry out professional training and professional expansion training according to the needs of the course. It also supports participation in the virtual and real combination of lightweight collaborative vision robots. The platform provides a set of robot modules, covering 2 kinds of drive modules (based on mechronics flexible joint expansion, including rotation module and linear motion module), and 5 kinds of intelligent perception modules (gyroscope, depth camera, infrared beam tube, Hall sensor, code scanning module, etc.). Through the combination of these modules, students can design and assemble typical robots by themselves, including 4-degree-of-freedom joint series robot arm, 4-degree-of-freedom Scara robot arm, 2-degree-of-freedom pin-head and other robots.
Four degrees of freedom robotic arm
Scara robotic arm
3 degrees of freedom robotic arm
二、Scheme Characteristics
1. Desktop-level modular robot multi-scene teaching design. It can carry out practical training projects based on two directions of robot design and robot application. The robot shape in the scheme has a proportional structure size and the same software system as the industrial robot in real application. Can support 3-4 people group/set at the same time. 2. Modular design, unified mechanical interface, CAN bus communication interface, hardware interface, etc. Without the need for additional design components, it supports multi-degree of freedom series, Scara and other project design, and supports expansion design based on core modules. 3. The three core modules of self-developed robots provide a stable robot system design environment for designers. Self-developed planetary reducer, self-developed servo drive, self-developed motor. Based on modular design, it is composed of 3 modules, reducer (planet) module, brushless motor module and servo drive board module. The product provides a standard set of parameter configurations, and can also be customized according to the needs of use. It can realize speed feedback control, position feedback control and torque feedback control. 4. All open source to bottom drive, to meet the design needs of designers at different levels. The application examples and source code of robot scene and function application, robot ontology algorithm and robot driving algorithm are provided.
三、Course project (can be selected according to the course direction, including mechanism design, kinematic control, system and simulation, intelligent control four parts)
Part I Institutional Design Part (optional according to course objectives)
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Theme
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Experimental project
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Experiment content
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Typical module drive
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Experiment 1 Rotation module control
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Brushless motor drive control;
Control the speed of the rotating module;
Control the rotation Angle of the rotation module;
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Experiment 2 Linear motion module control
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The speed of the linear motion module is controlled. Control the motion position of the linear motion module;
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Typical application level operation robot
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Experiment 4 Four-degree-of-freedom joint manipulator arm mechanism design
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Assembly of a four-degree-of-freedom series joint manipulator arm; Understand the degree of freedom and movement space of the
manipulator; Drive the robot arm by controlling the joint; |
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Experiment 5: Design and assemble a Scara robot arm
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Drive the robot arm by controlling the joint;
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Expansion Scheme
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Expansion Scheme 1 Two-degree-of-freedom head
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Design/assembly of a two-degree-of-freedom head to realize the spherical end movement;
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Part 2 Kinematics Control (optional according to course objectives)
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Kinematic control experiment of manipulator
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Experiment 1 Kinematics control of a typical 4-DOF manipulator
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The D-H matrix of 4 6-DOF manipulator is established. The inverse solution controls the fixed point motion of the manipulator.
Joint interpolation motion control; Linear interpolation motion control; Circular interpolation motion control; |
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Experiment 2 Kinematics control of typical Scara manipulator
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The D-H matrix of 4-DOF SCARA manipulator is established. The inverse solution controls the fixed point motion of the manipulator.
Joint interpolation motion control; Linear interpolation motion control; Circular interpolation motion control; |
Part 3 Systems and Simulation (optional according to course objectives)
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Project
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Content
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Robot operating system ROS basic
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Linux basic instruction operation;
ROS file system;
Basic ROS concepts (topics, subscriptions, services, etc.);
ROS tools (RQT,RVIZ, Gazebo, etc.);
ROS function package creation and compilation;
Robot simulation model (URDF) to make URDF file composition;
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Robot simulation model (URDF) production
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URDF file composition;
Create an URDF file for a simplified 6-axis manipulator;
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Simulation Experiment Based on Moveit-Gazebo (ROS)
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Build a physical model of a 6-axis manipulator in Gazebo; 6-axis manipulator kinematic simulation control; Build a simulation
application scenario of the robot arm; |
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Simulation experiment based on Matlab
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A physical model of a 6-axis manipulator was built in Webots. 6-axis manipulator kinematic simulation control; Robot arm motion
planning; Simulation - physical environment control; |
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Simulation experiment based on Webots
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A kinematic model of a 6-axis manipulator was built. D-H matrix establishment; Kinematic trajectory analysis;
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Part IV Intelligent Control (optional according to course objectives)
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Subject
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Item
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Content
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Typical sensor application
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Robot body sensing control scheme 1- Gyroscope
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structure body is 2 degrees of freedom head;
The attitude of the hand gyroscope joint controls the PTZ movement;
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Robot body sensing control scheme 2-depth camera
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Structure body is 2 degrees of freedom PTZ;
Using depth camera to identify human movement control PTZ;
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The structure of the robot character network control
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Scheme is a 2-degree-of-freedom head.
By accessing the server, remote Internet wireless control PTZ;
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Visual color recognition - depth camera
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Recognizes red, green, and blue objects; Understand the HSV color model;
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Visual shape recognition - depth camera
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Detects object contours;
Identify prototypes and rectangles;
Understand the application of Hough transform;
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Visual QR code recognition - depth camera
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Recognizes QR code information;
Understand the zbar library;
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Visual barcode recognition - depth camera
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Recognizes barcode information;
Understand the zbar library;
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Visual color tracking - depth camera
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The structure body is 2 degrees of freedom head; Realize the PTZ to follow a specific color object;
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Visual face recognition - depth camera
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Recognizes faces;
Recognize the facial features;
Recognize facial expressions;
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四、 kernel module
4.1 Self-developed mechatronics flexible drive joint
Based on modular design, it is composed of 3 modules, reducer (planet) module, brushless motor module and servo drive board module. The product provides a standard set of parameter configurations, and can also be customized according to the needs of use. It can realize speed feedback control, position feedback control and torque feedback control.
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Parameter item
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Parameter
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Maximum output torque
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Three-stage planetary reducer: 12NM
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Rated torque
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Three planetary reducer: 4NM
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Maximum speed
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Three-stage planetary reducer: 120rpm(720°/s)
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Rated speed
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Three planetary reducer: 40rpm(240°/s)
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Maximum motor current
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15A
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Motor rated current
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6A
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The driver supports a maximum current
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60A
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Operating voltage
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12V
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Encoder type (servo)
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Magnetic encoder
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The motor drive algorithm
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Based on stable sinusoidal control FOC design
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Communication interface
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CAN bus
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五、 Intelligent module
Depth camera
It can be used for vision-based AI related development, supporting practical training projects such as machine vision and deep learning. It can also be used for robot vision application project development, such as visual sorting, visual tracking, etc.
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Parameter item
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Parameter
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Working distance
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0.4m-6m；
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Depth resolution
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1280×1024max；
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Depth field of view Angle
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58.4°×45.5°；
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Delay
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35-45ms；
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RGB
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1080P；
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Data transfer
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USB2.0
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六、 Supporting system and software support
6.1 Open Source Robot Operating System (ROS) - pre-installed
OS: Ubuntu18.04 OS, based on Debian GNU/Linux, supports x86, amd64 (x64), ARM and ppc architectures. Supporting open source robot operating system ROS melodic.
6.2 Motion planning and simulation software support
Moveit-Gazebo- Pre-installed
Webots- pre-installed
Matlab- Provides project examples
七、Product part configuration list
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Legend
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Name
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Quantity
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Basic parameters and usage
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Rotation module
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4
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Circular motion, including reducer, motor, servo drive; Maximum motor driving current 30A; Maximum torque output 12Nm; Size:
Diameter 50mm, length 55mm; As a drive motor for six-axis, four-axis, Delta, Scara robotic arms; |
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Linear module
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1
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Can be combined with rotation module to achieve linear movement, including guide rail and support; Stroke: 100mm; Can be used in
Scara robot arm and guideway robot; |
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Adapter
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1
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Used for power supply
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Depth camera
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1
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Working distance: 0.4m-6m
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Mainboard
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4
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Used to set up the scene mainboard
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The long arm module
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2
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Can be used to operate the robot connecting rod; Material: Aluminum alloy;
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The short arm module
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4
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Can be used to operate the robot connecting rod; Material: Aluminum alloy;
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Motor debugging board
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1
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Used for motor power supply, motor and controller connection. CAN bus ports and DC power connectors are reserved. It can also
realize the connection between the motor and the computer |
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System disk and data disk
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1
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Pre-installed Ubuntu-ROS system, Webots simulation software, etc.
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Other
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Profiles set
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1
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Can be used for robot frame construction
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Tool set
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1
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Used to assemble the robot;
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