发现

 DF创客社区 产品资料库 DF创客商城
回到首页 返回首页
回到顶部 回到顶部
返回上一页 返回上一页

【Arduino 动手做】基于 Arduino 的 28BYJ-48 升降机械臂 简单

头像 驴友花雕 2025.07.01 4 0

Just Another Marble Robot （JAMR） 是一款非常简单的基于 Arduino 的 3 轴机器人，您可以将其构建为学校项目或与孩子一起构建的有趣项目。这个机器人会让你的大理石轨道更加有趣。
尽管体积小，但它具有大型机器人的所有步进功能，包括高精度。具有斜坡上升和下降功能，它的运动比伺服控制的机器人要平稳得多。

该机器人基于廉价的 28BYJ-48 12V 步进电机，带有 ULN2003 驱动器，您可以以每套 4 欧元/美元左右的价格购买。结合 Arduino Uno，该项目的总成本约为 32 欧元/美元,-.
在此页面上，您将找到开始构建机器人所需的所有信息。

该机器人所需的零件是：
• 6 x 28BYJ-48 12V 步进电机
• 6 x ULN2003 驱动程序
• 1 个 Arduino Uno
• 1 x 10k 电阻器
• 1 x BC547 晶体管
• 1 x 线圈，来自 12V 继电器
• 一些 M4 螺纹尼龙棒
• 一些 M4 尼龙螺母和粗体
• 电子元件外壳
• 一些 0,14mm2/26AWG 电线

 

00.jpg
01.jpg
02.jpg
03.jpg
04.jpg
05.jpg
06.jpg
07.jpg

项目代码

 

代码
int speedSetting;
int stepCounter;
int calibrationSpeed = 5;
int bottomArmPosition, middleArmPosition, topArmPosition;
byte incommingByte;

void setup() {
  Serial.begin(57600);
  //Magnet
  pinMode (A0, OUTPUT); //Magnet coil

  //Bottom arm
  pinMode(2, OUTPUT); //IN1
  pinMode(3, OUTPUT); //IN2
  pinMode(4, OUTPUT); //IN3
  pinMode(5, OUTPUT); //IN4

  //Middle arm
  pinMode(6, OUTPUT); //IN1
  pinMode(7, OUTPUT); //IN2
  pinMode(8, OUTPUT); //IN3
  pinMode(9, OUTPUT); //IN4

  //Top arm
  pinMode(10, OUTPUT); //IN4
  pinMode(11, OUTPUT); //IN3
  pinMode(12, OUTPUT); //IN2
  pinMode(13, OUTPUT); //IN1

  digitalWrite(2, HIGH);
  digitalWrite(6, HIGH);
  digitalWrite(10, HIGH);
  digitalWrite(A0, LOW);

  delay(5000);

  calibrateArms();
  bottomArmMove(120);
  middleArmMove(-290);
  topArmMove(170);
  bottomArmMove(-46);

}

void loop() {
  Serial.print("B=");
  Serial.print(bottomArmPosition);
  Serial.print(" M=");
  Serial.print(middleArmPosition);
  Serial.print(" T=");
  Serial.print(topArmPosition);
  Serial.print(" C=");
  Serial.println(digitalRead(A0));
  digitalWrite(A0, HIGH);
  delay(500);
  bottomArmMove(79);
  middleArmMove(70);
  bottomArmMove(-45);
  digitalWrite(A0, LOW);
  topArmMove(120);
  middleArmMove(-70);
  topArmMove(-120);
  bottomArmMove(-34);




  if (Serial.available()) {
    incommingByte = Serial.read();
    if (incommingByte == '7')bottomArmMove(10);
    if (incommingByte == '1')bottomArmMove(-10);
    if (incommingByte == '8')middleArmMove(10);
    if (incommingByte == '2')middleArmMove(-10);
    if (incommingByte == '9')topArmMove(10);
    if (incommingByte == '3')topArmMove(-10);
    if (incommingByte == '4')digitalWrite(A0, HIGH);
    if (incommingByte == '6')digitalWrite(A0, LOW);

    Serial.print("B=");
    Serial.print(bottomArmPosition);
    Serial.print(" M=");
    Serial.print(middleArmPosition);
    Serial.print(" T=");
    Serial.print(topArmPosition);
    Serial.print(" C=");
    Serial.println(digitalRead(A0));

    delay(100);
    while (Serial.available())incommingByte = Serial.read();
  }
}

void topArmMove(int steps) {
  topArmPosition += steps;
  speedSetting = 20;
  if (steps == 0)return;
  digitalWrite(10, HIGH);
  if (steps > 0) {
    for (stepCounter = 0 ; stepCounter < steps; stepCounter ++) {
      digitalWrite(10, LOW);
      digitalWrite(11, HIGH);
      delay(speedSetting);
      digitalWrite(11, LOW);
      digitalWrite(12, HIGH);
      delay(speedSetting);
      digitalWrite(12, LOW);
      digitalWrite(13, HIGH);
      delay(speedSetting);
      digitalWrite(13, LOW);
      digitalWrite(10, HIGH);
      delay(speedSetting);
      if (stepCounter > steps - 20 && speedSetting < 20)speedSetting += 2;
      if (speedSetting > 4)speedSetting --;
    }
  }
  else {
    steps *= -1;
    for (stepCounter = 0 ; stepCounter < steps; stepCounter ++) {
      digitalWrite(10, LOW);
      digitalWrite(13, HIGH);
      delay(speedSetting);
      digitalWrite(13, LOW);
      digitalWrite(12, HIGH);
      delay(speedSetting);
      digitalWrite(12, LOW);
      digitalWrite(11, HIGH);
      delay(speedSetting);
      digitalWrite(11, LOW);
      digitalWrite(10, HIGH);
      delay(speedSetting);
      if (stepCounter > steps - 20 && speedSetting < 20)speedSetting += 2;
      if (speedSetting > 4)speedSetting --;
    }
  }
  digitalWrite(11, LOW);
  digitalWrite(12, LOW);
  digitalWrite(13, LOW);
}

void middleArmMove(int steps) {
  middleArmPosition += steps;
  speedSetting = 20;
  if (steps == 0)return;
  digitalWrite(3, HIGH);
  if (steps > 0) {
    for (stepCounter = 0 ; stepCounter < steps; stepCounter ++) {
      digitalWrite(3, LOW);
      digitalWrite(5, HIGH);
      delay(speedSetting);
      digitalWrite(2, LOW);
      digitalWrite(4, HIGH);
      delay(speedSetting);
      digitalWrite(5, LOW);
      digitalWrite(3, HIGH);
      delay(speedSetting);
      digitalWrite(4, LOW);
      digitalWrite(2, HIGH);
      delay(speedSetting);
      if (stepCounter > steps - 20 && speedSetting < 20)speedSetting += 2;
      if (speedSetting > 4)speedSetting --;
    }
  }
  else {
    steps *= -1;
    for (stepCounter = 0 ; stepCounter < steps; stepCounter ++) {
      digitalWrite(2, LOW);
      digitalWrite(4, HIGH);
      delay(speedSetting);
      digitalWrite(3, LOW);
      digitalWrite(5, HIGH);
      delay(speedSetting);
      digitalWrite(4, LOW);
      digitalWrite(2, HIGH);
      delay(speedSetting);
      digitalWrite(5, LOW);
      digitalWrite(3, HIGH);
      delay(speedSetting);
      if (stepCounter > steps - 20 && speedSetting < 20)speedSetting += 2;
      if (speedSetting > 4)speedSetting --;
    }
  }
  digitalWrite(3, LOW);
  digitalWrite(4, LOW);
  digitalWrite(5, LOW);
}

void bottomArmMove(int steps) {
  bottomArmPosition += steps;
  speedSetting = 20;
  if (steps == 0)return;
  digitalWrite(7, HIGH);
  if (steps > 0) {
    for (stepCounter = 0 ; stepCounter < steps; stepCounter ++) {
      digitalWrite(7, LOW);
      digitalWrite(9, HIGH);
      delay(speedSetting);
      digitalWrite(6, LOW);
      digitalWrite(8, HIGH);
      delay(speedSetting);
      digitalWrite(9, LOW);
      digitalWrite(7, HIGH);
      delay(speedSetting);
      digitalWrite(8, LOW);
      digitalWrite(6, HIGH);
      delay(speedSetting);
      if (stepCounter > steps - 20 && speedSetting < 20)speedSetting += 2;
      if (speedSetting > 4)speedSetting --;
    }
  }
  else {
    steps *= -1;
    for (stepCounter = 0 ; stepCounter < steps; stepCounter ++) {
      digitalWrite(6, LOW);
      digitalWrite(8, HIGH);
      delay(speedSetting);
      digitalWrite(7, LOW);
      digitalWrite(9, HIGH);
      delay(speedSetting);
      digitalWrite(8, LOW);
      digitalWrite(6, HIGH);
      delay(speedSetting);
      digitalWrite(9, LOW);
      digitalWrite(7, HIGH);
      delay(speedSetting);
      if (stepCounter > steps - 20 && speedSetting < 20)speedSetting += 2;
      if (speedSetting > 4)speedSetting --;
    }
  }
  digitalWrite(7, LOW);
  digitalWrite(8, LOW);
  digitalWrite(9, LOW);
}

void calibrateArms(void) {
  //Set top arm position
  for (stepCounter = 0 ; stepCounter < 300; stepCounter ++) {
    digitalWrite(10, LOW);
    digitalWrite(13, HIGH);
    delay(calibrationSpeed);
    digitalWrite(13, LOW);
    digitalWrite(12, HIGH);
    delay(calibrationSpeed);
    digitalWrite(12, LOW);
    digitalWrite(11, HIGH);
    delay(calibrationSpeed);
    digitalWrite(11, LOW);
    digitalWrite(10, HIGH);
    delay(calibrationSpeed);
  }

  //Set middle arm position
  for (stepCounter = 0 ; stepCounter < 300; stepCounter ++) {
    digitalWrite(2, LOW);
    digitalWrite(5, HIGH);
    delay(calibrationSpeed);
    digitalWrite(5, LOW);
    digitalWrite(4, HIGH);
    delay(calibrationSpeed);
    digitalWrite(4, LOW);
    digitalWrite(3, HIGH);
    delay(calibrationSpeed);
    digitalWrite(3, LOW);
    digitalWrite(2, HIGH);
    delay(calibrationSpeed);
  }
  //Set bottom arm position
  for (stepCounter = 0 ; stepCounter < 300; stepCounter ++) {
    digitalWrite(6, LOW);
    digitalWrite(7, HIGH);
    delay(calibrationSpeed);
    digitalWrite(7, LOW);
    digitalWrite(8, HIGH);
    delay(calibrationSpeed);
    digitalWrite(8, LOW);
    digitalWrite(9, HIGH);
    delay(calibrationSpeed);
    digitalWrite(9, LOW);
    digitalWrite(6, HIGH);
    delay(calibrationSpeed);
  }
}

【Arduino 动手做】基于 Arduino 的 28BYJ-48 升降机械臂
项目链接：http://www.brokking.net/JAMR.html
项目作者：Joop Brokking

项目视频 ：https://www.youtube.com/watch?v=DWgC4vC-IGg
项目代码：http://www.brokking.net/images/jamr/JAMR_Arduino_code.zip
3D 文件：http://www.brokking.net/images/jamr/JAMR_parts.zip
 

00178---.gif

Makelog作者原创文章，未经授权禁止转载。
#Arduino#机器人#Arduino 动手做#28BYJ-48 升降机械臂

评论

user-avatar
驴友花雕
驴友花雕2019.05.06
icon
创造力70697
icon
项目文章1170

爱好中国极地探险，二次徒步穿越雅鲁藏布江大峡谷核心无人区域，成功穿越了中国三大沙漠、四大无人区及三江源等中国境内最困难的地方。攀登三座八千米级雪山，组织驼峰搜寻队二次深入高黎贡山核心无人区搜寻驼峰航线坠机，骑行美国66号公路徒步北极等。完成十余项极地摄影专题，累计拍摄相关照片近十万张，在重庆科技馆举办过《花雕中国极地摄影展》。中国探险协会理事，入选“中国国家旅游首席旅行家”、《中国十大徒步人物》和《中国当代徐霞客》。

icon 他的勋章
    展开更多

    你可能感兴趣的