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Lesson 5 Robotic Arm Comprehensive Function

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27 views10 pages

Lesson 5 Robotic Arm Comprehensive Function

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© © All Rights Reserved
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Lesson 5 Robotic Arm Comprehensive function

In this lesson, we will learn Robotic Arm Comprehensive function.

5.1 Components used in this course

Components Quantity Picture

Adeept Arm Drive Board 1

Micro USB Cable 1

OLED screen 1

5.2 Introduction of Potentiometer and OLED


The potentiometer is a resistance element with three terminals and the
resistance value can be adjusted according to a certain change law, which is
equivalent to a variable resistor. Because its role in the circuit is to obtain a
certain relationship with the input voltage (external voltage) to output Voltage,
so called potentiometer. Potentiometers can be divided into rotary
potentiometers, push-pull potentiometers, straight slide potentiometers, etc.
according to the adjustment method. Our course experiment uses a rotary
potentiometer. It’s three pins are showed as below:
The rotary potentiometer is an adjustable resistance element. It is composed
of a resistor and a rotating system. When a voltage is applied between the two
fixed contacts of the resistive body, the position of the contact on the resistive
body is changed by the rotating system, and a voltage that has a certain
relationship with the position of the moving contact can be achieved between the

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moving contact and the fixed contact. Potentiometer can be used to adjust the
voltage and current.
Our course uses a rotary potentiometer. Its structure is as shown in the
figure below. By rotating the knob, the position of pin 2 is changed, thereby
changing the resistance value from pin 2 to both ends. In the experiment.
Connect pin 1 and pin 3 to the GND and 5V of the development board respectively.
And then read the voltage divided by the pin 2 of the potentiometer through the
analog input pin A0, the range is between 0V and 5V. The analog input function of
Arduino has 10-bit precision, that is, it can convert the voltage signal of 0 to 5V
into an integer form of 0 to 1024.

5.3 Wiring diagram (Circuit diagram)


Figure as below:

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5.4 How to use the comprehensive function

1. Before performing the following steps, make sure that the "block_py.ino"

program has been uploaded. (If not, please upload the "block_py.ino" program)

2. Connecting GwBlock graphical editor. (See” 1 Building the GwBlock Graphical

Programming Development Environment”)

http://www.adeept.com/gwblock/?hd_mo=ADA031

3. Import the program in GwBlock

3.1 After successfully connecting to the GwBlock graphical editor, you need to

click the drop-down button in the upper right corner, as shown bellow:

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3.2 Then click Import project file to import the external project file. After opening
it, a blank page will appear. You need to make a modification in the lower
right corner and select All Files, as shown below:

3.3 Then the folder will be displayed and find the user folder
“Adeept_Robotic_Arm_Kit_for_Arduino-V4.0\Code\GwBlock”. Open the
GwBlock folder and select the "5_Comprehensive function.gwblock" file. This
file is our graphical code program for this lesson. Click "Open" in the lower
right corner.

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3.4 Click OK.

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5.5 Run

Click the button in the upper right corner, after successfully running the
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program, you can use a full robotic arm function.

Note: Do not turn on the power of the arm after downloading the program. Adjust the

four potentiometers on the driver board to the center first, as shown below:

You can rotate the potentiometers on the driver board to control the arm to clamp and

carry objects.

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Servo4
Servo5

Servo3
Servo2

Servo1

【Specific function descriptions】:

▲The potentiometer A0 on the driver board controls the movement of Servo 1,


range from 0 to 180 degrees.

▲The potentiometer A1 on the driver board controls the movement of Servo 2,


range from 0 to 180 degrees.

▲The potentiometer A2 on the driver board controls the movement of Servo 3,


range from 0 to 180 degrees.

▲The potentiometer A3 on the driver board controls the movement of Servo 4,


range from 0 to 180 degrees.

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▲The potentiometer A6 on the driver board controls the movement of Servo 5,
range from 35 to 90 degrees.

【Note】:

1. Potentiometer control mode is not very precise, there will be some delay,

so it is best to turn the potentiometer button slowly when using.

2. The torque of the servo is small, and can only clamp and carry relatively

light objects.

3. The Robotic Arm works better with a fully charged battery.

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