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Copy file name to clipboardExpand all lines: README.md
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@@ -9,17 +9,17 @@ The design was heavily inspired by these following projects:
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[I made a DUMMY ROBOTIC ARM from scratch！ (By pengzhihui)](https://www.youtube.com/watch?v=HMSLPefUVeE&ab_channel=JeremyFielding)
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Props to them for sharing these amazing projects with all of us!
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Props to them for sharing these amazing projects!
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This robotic arm uses harmonic drives(CSF-11, CSF-8) as reducers and steppers(NEMA17, NEMA14) as motors.
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This robotic arm uses harmonic drives as reducers(CSF-11, CSF-8) and steppers as motors(NEMA17, NEMA14).
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Therefore, the overall precision of the robot is pretty decent for a 3D printed robot, but it is still no match for robotic arm that has fully CNC frames.
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The filament I'm using is PLA+, it provides great stiffness and cheap price, but it still has some deformation when big load were apply in TCP, which is acceptable for me.
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The filament I'm using is PLA+, it provides great stiffness and cheap price, but it still has some deformation when big loads were apply in TCP, which is acceptable for me.
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The controller box has a [STM32F407VG](https://www.st.com/en/evaluation-tools/stm32f4discovery.html"link"), a 12V 100W PSU and a 12V to 5V converter, can be connected to computer via USB and the robotic arm will be identify as a USB device.
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The control box of the robot has a [STM32F407VG](https://www.st.com/en/evaluation-tools/stm32f4discovery.html"link"), a 12V 100W PSU, a 12V to 5V converter and a sn65hvd230 CANBUS transceiver, it can be connected to computer via USB and the robotic arm will be identify as a USB device.
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The design of the robot is reference from generic industrial robot, such as [Yasakawa AR1440](https://www.motoman.com/en-us/products/robots/industrial/welding-cutting/ar-series/ar1440) or [Kuka KR CYBERTECH nano](https://www.kuka.com/en-de/products/robot-systems/industrial-robots/kr-cybertech-nano)
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The first 3 joints of the robot used NEMA17 stepper motor and CSF-11 gearbox as their joint unit, and the 3 joints were also installed with crossed roller bearings to reduce to vibration and deformation.
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All of the component that you need to build the robot is shown in the BOM(bill of material), including the part's name and quantity.
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3 wrist joints used NEMA14 stepper motor and CSF-8 gearbox, which make the wrist joints lighter and more compact.
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Some of the part were relatively more expensive then other, like harmonic drives.
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Every joint also has its own limit switch, the limit switch is used as a way to calibrate joint's origin(0° of the joint)
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The detail of each joint can be found in the table below.
All of the component that you need to build the robot is shown in the **BOM**(bill of material) in **hardware** folder, including the part's name and quantity.
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Some of the parts were relatively more expensive, like harmonic drives.
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But I've manage to found cheaper alternative in Aliexpress and Taobao, which is a lot cheaper then the original one.
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By doing so
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By doing so, I've significantly reduced my cost on the robot, I end up spent around 400USD in total.
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Which is a pretty good deal in my opinion.
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## Firmware
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### Preparation
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The code of the controll box ([STM32F407VG](https://www.st.com/en/evaluation-tools/stm32f4discovery.html"link")) can be found in the **firmware** folder.
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[STM32CubeIDE](https://www.st.com/en/development-tools/stm32cubeide.html) is needed to open the **.project** file.
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Once **.project** is opened, all the code, peripheral setting etc... will be shown inside STM32CubeIDE.
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The code can also be uploaded or modified in STM32CubeIDE.
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### Source Code
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The firmware source code can be break down into following sections :
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|Section name |Functionality|
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|:- |:- |
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|alto_config |Robot configuration|
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|command |Processing user command|
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|Emm_can |Stepper driver CANBUS library|
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|FK |Forward kinematics|
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|IK |Inverse kinematics|
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|main |STM32 main function|
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|matmul |matrix calculation library|
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|robot_behavior|Robot system core|
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|transform |Basic robotic mathematics library|
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Further details can be found inside the src files.
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## API
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## result
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### Serial Command
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Robot can be connected to computer via USB, so any serial communication tool like [hterm](https://www.der-hammer.info/pages/terminal.html) can be used to control the robot.
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The command reference file **alto_command.xlsx** is located inside **software** folder.
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### Python API
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There is also a Python API module in **software** folder named **alto.py**, which is a much easier way to control the robot.
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Simply declare a **Alto** class object with correct COM port, then you can use the object's bulid-in method to operate the robot.
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```python
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import alto
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alto_6_axis = alto.Alto(6, com_port="COM10")
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alto_6_axis.Alto_Operate()
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alto_6_axis.Alto_Stop()
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alto_6_axis.Alto_Set_Speed(100)
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alto_6_axis.Alto_Set_Acc(80)
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alto_6_axis.Alto_Set_Mov(alto.Joint)
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alto_6_axis.Alto_Set_Joint_Angle(1, 0)
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alto_6_axis.Alto_Set_Joint_Angle(2, 0)
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alto_6_axis.Alto_Set_Joint_Angle(3, 0)
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alto_6_axis.Alto_Set_Joint_Angle(4, 0)
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alto_6_axis.Alto_Set_Joint_Angle(5, 0)
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alto_6_axis.Alto_Set_Joint_Angle(6, 0)
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alto_6_axis.Alto_Start()
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```
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## result
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### Videos
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[IK Test Demo](https://www.youtube.com/watch?v=VYk2PS6qSJA&ab_channel=%E7%A8%8B)
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