1.1. What is Joinmax Robotic Arm?
Contents
1. on J 1 2 me F le a N gi Figure 2 16 Chapter 3 Hardware Description 3 1 Basic Knowledge of Mini Servomotor 3 1 1 Brief introduction of Mini Servomotor Many people think it 15 very difficulty to make a robot But in fact making a personal robot is not more difficult than making a car model further more it will enable you to experience another kind of pleasure expand your view and elicit your inspiration In the following we will introduce briefly the working theory and controlling way of the mini servomotor which is the most comment intelligent part for personal robot Mini servomotor has been used quite widely in radio amateurs models for a long history It is a main part for controlling the moving directions Servomotor is a kind of motor used for positioning which is able to move to the designated position after receiving an order So it is used to control the joints in the robot model and we call these joint the degree of freedom The servomotor has the following advantages large torque easy control flexible assembly inexpensive But it also has some disadvantages firstly it is an precise machine which will be damaged when being overloaded Secondly there is an electronics control circuits inside which will be destroyed by incorrect connecting So it is necessary to understand how their works befor2. 2 1 Prepare to work 2 1 1 Tools required Before assemble the Robotic Arm you must prepare the following tools 1 1 cross screwdriver 2 1 tip pincers 2 1 2 About the Power Supply The Robotic Arm needs strong power supply Its voltage is about 5 to 6 volts so we suggest you to choose 5 rechargeable batteries which voltage is 1 2 volts each with large capacity and good quality For instance prepare 5 1800mAh 5 size rechargeable batteries At the same time you should prepare a good quality battery charger which can be bought in the market easily It can save your money because you can use these batteries repeatedly WARNING 1 Don t use normal alkaline battery which voltage is 1 5 volts and it will do harm to the electrics circuit of Hexapod Monster 2 Don t use any inferior or easy leakage batteries because any damages caused by batteries misuse are not covered under our guarantee 3 Remember to use the batteries at least after 15 minutes after they are completely charged otherwise it may hurt the control circuit because of unstable voltage 2 2 Assembly parts List including accessories You will use the following parts in the assembly process please array them one by one 1 Base Bottom 1PCS 5 Battery Box Cover 1PCS 9 Computer Connecting Cable 1PCS 13 Servo Motor 7PCS 21 Clamp Top 1PCS 6 Fore Cover 1PCS 10 Nylon Rope 6PCS 14 Connector 1 3PCS 1
3. are a newcomer or a seasoned veteran This kit includes a complete set of the electronic and mechanical parts and basic control software It will take you about 2 hours to set up a complete lively Robotic Arm according to the user manual and base on it you will be able to bring your imagination and creativity into play To acquaint yourself with the excellent property of the Robotic Arm and its correct assembling and control method you are strongly proposed to read this manual carefully If you have any comment or suggestion please send us a letter or email through our web site and it s address is http www robotplayer com love to har from you Your suggestion will be very helpful to the improvement of our robots If you have a good project of playing the Robotic Arm please don t hesitate to send us the jpg images and some necessary descriptions of it we will publish them on our web site so that more players can share your success and joy 1 1 What is Joinmax Robotic Arm The Joinmax Robotic Arm is a typical robotic arm model which is usually used to stimulate actions of human arm and is a basic platform for the study purpose of various robotic arms and can be applied in many fields such as research education entertainment etc and it is also a good tool to expand your view and enhance your ability You need to assemble the Robotic Arm by yourself and you should use more than 100 parts in it this will challenge you
4. robot while you are playing it and you can also edit the actions in the PC without connecting robot It is very convenient to modify the actions of the robot because you can store the edited actions for later usage or link up many separate actions into a complete set of actions The software has many powerful functions and lively samples Please read the manual or online help of Mini Servo Explorer for more details Mini servo Explorer setting for Smart Arm Because NO 5 servomotor and NO 6 servomotor must rotate at the same angle at all time You must set the motor6 as a slave motor in the Servo motor setting dialog 25 After running Mini servo Explorer click Motor Setting under the Setting menu bar and set the parameter of motor6 as the following dialog box Set as slave motor Not No 5 Nob No Nod 9 No 10 1 No 12 No 13 14 No 15 No 16 Mlotor name Motor Motor Motor Motor Motor Motor Motor Motor Motor Motor Motor Motor Motor Motor Motor Motor Fange e s 0 253 3 0 253 0 253 0 253 0 253 0 253 0 253 0 253 0 253 0 253 0 253 0 253 0 253 0 253 0 253 0 253 Servo motor setting Lower limit Ok oper limit pony pony pony Poo Poo Loo ee Pap Cy Le La maf
5. shorter control port power port micro controller 1 0 port serial port servo control 22 Pinouts JM SSC16 5 LOGIC GND GND 6V SERVO POWER JP4 RESET BUTTON SWITCH SERVO 1 SERVU 9 SERVU amp SERVO 16 NOTE You must set an ID number to the control board before it is used The ID number should be NO 1 if you use only one board The DIP switch setting for NO 1 is shown as below DIP switch NO F There are two operation modes for the Mini servo Control Board Operation Mode On line mode Its connected to the PC 105 on line controlled RS232 port via download Mini servo Explorer program cable Mi ni servo Explorer has been run on the above PC Off line mode No cable is connected to It will run the actions which its RS232 serial port being edited and downloaded 4 seconds after powered on by Mini servo Explorer at the or being reset last time 23 3 2 5 Connecting Cable between JM SSC16 and PC Serial Port Specification of the cable Pins to Pins table DB9F Connector PC Serial Port gt RJ11 Connector Robot Serial Port gt RIL GND 3 2 6 RS232 Communication Protocol of JM SSC16 There are two communication protocols Instant control protocol and download protocol Instant Control Protocol The first byte is a marking byte and the second byte is a number of servomot
6. 8 Roatator 1PCS 22 Left Clamp 3 Base Top 7 Back Cover 1PCS 11 Extended Cable for Motor 4PCS 15 Connector 2 3PCS 19 Battery Cable 1PCS 23 Right Clamp 4 Battery Box 8 Midlle Pillar 1PCS 12 Slip Board 1PCS 16 Parallel Connector 1PCS 20 Clamp Bottom 1PCS 24 Motor Cover 1PCS 25 Turning Arm 1 1PCS 29 Screw M2 5x6 36 1PCS 33 Bolt M3x20 6PCS 37 Fixing Seat 1PCS 26 Turning 2 1PCS 30 Screw M2 5x10 2 1PCS 34 Nut 6PCS 38 Mini Server Explorer CD 1PCS 27 Fixing Hoop 1PCS 31 Screw M2 5x18 3 1PCS 35 Ball Bearing 5 1PCS 39 Assemly Manual 1PCS 28 Controller Board 1PCS 32 Screw M2 8x8 2 1PCS 36 AXxiS 5 1PCS 2 3 Assembly Steps We suggest you to check up the types and quantities of all parts first and then you had better follow the illustrations below strictly to assemble the Robotic Arm and pay attention to the relative warning The parts of Robotic Arm include two parts one of them is the selection parts and the other is movable parts which are used to form 6 degrees of freedom and deployed to 7 servomotors Two of them use the same axis and they are Connectors 3 pieces Vertical Connectors 4 pieces Parallel Connector 1 piece and Rotator 1 piece and through different combinations of them you can induce various assembly method In narrow sense you can assemble the clamp in 12 ways when calculated o
7. Base Bottom with 4 2 5 6 screws 23 Module22 Batteries Battery Box Cover Put the Batteries into Box and cover it with the Cover tightly 24 Module23 Fixing Seat Firm the Fixing Seat to the Base Bottom with 3 M2 5x6 screws 25 Module24 Rubber Washers Paste the 4 Rubber Washers under the Fixing Seat 26 Module25 Screws Firm the turning arms and connectors with 3 M2 5x18 screws 15 2 3 2 Begin to Control the Robotic Arm After you have connected servomotors and Battery Box to the control PCB through wires you can control the Robotic Arm through the Mini Servo Explorer software Warning To avoid that the Robotic Arm hurt somebody or damage itself you should make the Robotic Arm stand at such a gesture as Figure 2 before you turn on the power supply button because when the power supply is turned on all of the servomotors will move to their middle position at the highest speed and suddenly 2 4 How to use the Parallel Connectors and Vertical Connectors 1 The Parallel Connectors are used to connect the head and the servomotor and keep them stands vertically to each other 2 The Vertical Connectors are used to connect two servomotors or connect the head and the servomotor which can be used to keep the angle between them to be 90 degree Parallel Connector Vertical Connector si T 2 i
8. Jommax Robotic Arm Kit Assembly Manual Version 1 3 Contents CHAPTER 1 anes 3 1 1 WHAT IS JOINMAX ROBOTIC 3 5 CHAPTER 2 HOW ASSEMBLE 6 2 1 PREPARE TO WORK 6 TOOLS REQUIRED 6 225 ABOUT THEA OWER SUPPE ve wae aad wees aia Soldner ws 6 2 2 ASSEMBLY PARTS LIST INCLUDING ACCESSORIES ccsccccsscccesecccsececuccsceuccseecseeeeceesecseeueceusees 7 2 SNS SEMBLY O TEPS 9 2 3 1 THE DETAILED ASSEMBIY PROCESSES neroian 10 2 5 2 BEGIN TO CONTROL THE ROBOTIC ARM E A 16 2 4 HOW USE THE PARALLEL CONNECTORS AND VERTICAL 16 CHAPTER 3 HARDWARE DESCRIPTION csssssssssssssscsssscccssssscsccccsessssssccccsessssscccesscssees 17 3 1 BASIC KNOWLEDGE OF MINI SERVOMOTOR 17 3 1 1 BRIEF INTRODUCTION OF MINI SERVOMOTOR 17 3 1 2 INTERNAL STRUCTURE OF MINI SERV
9. OMOTOR 17 3 1 3 WORKING THEORY OF 18 3 14 HOW TO CONTROL SERVOMOTOR 19 3 1 3 POWER SUPPLY WIRES OF SERVOMOTOR 20 THE SPERED OF SERVOMOTOR 52 20 Sl NOTICES FOR SERVOMOTOR USAGE 20 3 2 JM SSC16 SERVOMOTORS CONTROL BOARD DESCRIPTION 21 Delle WHAT STE J SC 21 3 22 SPECIFICATIONS OF C16 21 332 3 JM SSCIG WORKING ENVIRONMENTS 22 214 PORTS OF J Nie SSC lO 22 3 2 5 CONNECTING CABLE BETWEEN JM SSC16 AND PC SERIAL 24 3 2 6 RS232 COMMUNICATION PROTOCOL OF 7 55 16 24 3 3 BRIEF INTRODUCTION OF MINI SERVO EXPLORER 29 CHAPTER 4 RELATIVE DATA OF ROBOTIC ARM 27 dl BASIC STATIC SPECIFICATION nace 21 42 FE NVIOVING ANGLE SPECIFICATION AEA AS Oi 21 Chapter 1 Brief Introduction Congratulations on your smart purchasing of the Robotic Arm Kit delivered by Joinmax Digital Tech This kit will be sure to satisfy your desire for robotic study no matter you
10. Proll ion on oot food boo mp pone peony pone pond pone poy cof Poo Poo Loo Loo Loo Pood Loo F fF fF fj map prop pop prod prod H CGY Le GH Le Cancel l Initial position l l Pay Mlaster motor number Bias Click OK to confirm the setting Other usage Please refer to the Mini Servo Explorer software user book or help file for details 2 ON Chapter 4 Relative Data of Robotic Arm 4 1 Basic Static Specification I i ij ful 7 13 031 Smart Ainn Geometry Dimention inch 4 2 The Moving Angle Specification a 1 al 21
11. e we use them to avoid losses The servomotors displayed in the pictures of this manual are Vigor s servomotors which designed for robot model usages specially and they have many advantages large torque force good performance lower price etc and are suitable for robot amateurs usages 3 1 2 Internal structure of Mini Servomotor A servomotor is constructed by a small D C motor a gear case a feedback resistance for adjustment purpose and an electronic control board The high speed D C motor provides original power to the gears 17 which provide large torque The higher is speed ration gears convert stronger is torque That means it can carry higher load but its turning speed 15 slower series of gears 7 5 Feedback variable resistor electronic control board 3 1 3 Working Theory of Mini Servomotor A mini servomotor is a typical closed loop feedback system and its theory is demonstrated as below Variable controlling ulse signal nea puse Control Circuit Board feed back The speed reduction gears case are driven by the D C motor and its output drives a variable resistance varying linearly which acts as a position detector and transforms the degrees of turning angle into a voltage and feed it back to the control circuit board which compares the voltage to the input controlling pulse signal then an adjusting pulse will be produced to drive the motor tu
12. ervomotor Take off cover of the No 2 servomotor and replace it with a special cover 15 Module 13 Module 14 Connect Module 14 and Module 13 with the Connector and Connector 2 16 Clamp Top Clamp Bottom Left Clamp Right Clamp No 1 servomotor Fixing Hoop Rotator Nut Bolt Assemble all the parts above and firm them with tow Bolts and Nuts 12 17 Module 15 Module 16 Firm the rotator of Module 16 to waist of Module 15 and fix it with 2 M2 5x10 screws 18 Base Bottom Electronic PCB Firm the PCB to the Base Bottom with 4 M2 5x6 screws 19 Connect the wires from the 7 servomotors to the PCB Tidy up the wires and fasten them and put them through a hole ey The wires should be plugged to in the Dial and then a 9 right pins according to their numbers plug them to the strictly which is demonstrated in relative pins in the 3 2 4 JM SSC16 Interface in PCB according their detail numbers The details is demonstrated in 3 2 4 JM SSC16 Interface The wires should be put through this hole 20 Module 17 Module 18 Firm the Base Bottom to the Middle Pillar with 4 2 5 6 screws 13 21 Module 20 Back Cover Firm the Back Cover to the Module 20 with 4 2 5 6 Screws 1 22 Module 21 Battery Box Firm the Battery Box to the
13. ltage But its average speed can be changed by inserting stop points between the start position and the designated position For example we can divide a distant of 90 degrees into 128 stop points and lengthen the stop time in each stop points to slow down the average speed of servomotor because to most servomotors the unit of the speed is degrees second 3 1 7 Notices for Servomotor Usage The shaft position of servomotor is not so accurate unless it is a digital servomotor The normal servomotors are not precise positioning devices and the differences between them vary largely even they are of the same brand or model So it is normal that different servomotors have 10 degrees deviation under the same driving pulse Because of the mention above it is not recommended that don t use a driving pulse less than ms or larger than 2ms And in fact the turning range of servomotor original designed is within 45 because the linear relationship between the pulse length and the turning angle will become 20 worse when turning angle exceed 45 Warning Do not use a pulse which will drive the servomotor turn out of 90 range Otherwise the servomotors mechanical stop or the gears will be damaged There is no standard for servomotors output shaft degrees and control pulse length so you need to adjust the parameters in the control software based on different servomotors 3 2 JMSC16 Servo
14. motors Control Board Description 3 2 1 What is the JM SSC16 JM SSC16 is a control board for general purpose which is able to control up to 16 servomotors through the serial ports of PC It can be connected to PC or other control systems through communication cable You can control up to 16 mini servomotors to move through simple programming and you can download a series of parameters about the motion and enable the robot moves without being connected to the controlling PC 3 2 2 Specifications of JM SSC16 MPU AVR Series Atmegal6 Serial Port RS232 9600 N81 Output Ports to Servomotors 16 channels of Ports Suitable Servomotors VIGOR FUTABA and HITEC Output Pulse T 20MS Vy 0 5 2 5MS Turning Range 0 180 PCB Size 53x60mm Power Supply 5V For Logical Circuit 6V For Servomotor GND 21 3 2 3 JM SSC16 Working Environments JM SSC16 working environments are demonstrated as below The Up to 16 JM SSC16 PC control driving servomotor Servomotor machine control board main board of robot Power supply Power supply Includes the power supply of the control system 5 volts and that of servomotor 6 volts If you want to use only one power supply you must keep the voltage between 5 0 volt and 5 5 volt and short the jumper 14 3 2 4 Ports of JM SSC16 All the ports of JM SSC16 are demonstrated as below reset button logic amp servo power
15. n 6 degrees of freedom but in broad sense you can assemble it in 96 ways in the same calculation method But if you decrease or increase degrees of freedom to calculate you can induce more assembly methods Which method will be chosen to assemble it depends on your requirement The assembly process demonstrated below is a typical assembly method No 6 servomotor Fore Cover No 1 servomotor Right Clamp No 4 servomotor No 2 servomotor No 3 servomotor No 5 servomotor Rotator Connecting Arm Battery Box The Typical Assembly Drawing The main parts are listed WARNING If NO 1 NO 4 Servomotor s length is less than 50cm please extend it with the Extended cable for motor 2 3 1 The detailed assembly processes 1 Base Top Middle Pillar Screws Use 4 M2 5x6 screws to fasten the Base Top to the Middle Pillar according to drawing 2 Ball Bearing 1 Harness the bearing to the Axis according to drawing the total is 5 PCS 3 Modulel Module2 Embed the module2 into the square slot of the Base Top the total is 3 PCS Use a wire cutter or a saw to cut the outstanding part of No 7 servomotor to avoid it blocking the wire of the other servomotors don t cut the other servomotors Module 3 Dial No 7 servomotor screws Put the Dial onto the Base Top and put the servomotor into the slot of the Dial make sure that the gears of the servomot
16. or and the Base link well and then firm the servomotor with 4 M2 5x6 screws The outstanding part of the servomotor before being cut The outstanding part of the servomotor after being cut 6 Module 5 screws Firm the Base Top to the axis of the servomotor with a black M2 8x8 screw 7 Slip board Module 2 Embed the module2 into the square slot of the slip board 8 Module 6 Module 7 Firm the Slip board to the Dial with 2 M2 5x6 screws 9 Turning arm 2 No 6 servomotor Insert the Turning Arm into the axis of No 6 servomotor and keep them link well 10 Module 8 Module 9 Put No 5 and No 6 servomotor into a big square slot in the Dial The two servomotors should be put in a same place perfectly because they should move synchronously 11 Module 10 Turning Arm 1 No 4 servomotor Before install No 4 Motor Please find the phase difference of No 5 and NO 6 Motor Put the Turning Arm linto the Turnin Arm 2 and embed the No 4 servomotor between them then firm it with a black M2 8x8 screw 11 m TEE a 12 Module 11 aie 2 4 WE A Firm the Fore Cover onto the Dial with 7 M2 5x6 screws 13 Module 12 Connector 1 Connector 2 Harness the Connector1 Connector2 and No 3 servomotor together each other and link them to the Module 12 1 14 2 S
17. ors which is defined by customer himself and each of them is mapped to their relative position in the control software one by one The third byte is the numbers of servomotor parameters which is used control the positions of servomotors For example the value of first byte is the data of the third byte is used for instant control which will 24 stored into area of instant data in the CPU 3 3 Brief Introduction of Mini Servo Explorer Mini Servo Explorer is the specially designed control software based on Windows for JM SSC16 which has many good features such as visible interface easy to operate and they will be demonstrated as below 1 2 3 4 5 6 7 8 The upper limit lower limit of servomotors can be set separately according to parameters or environmental conditions of each servomotor You can control any servomotor in the system separately and make them work separately or work together harmoniously You can make servomotor move to the designated position at the highest speed or you can make it move smoothly to there by setting its speed factor The servomotor can be controlled by inputting the value of position or drawing scrollbar on the interface The graphical user interface is friendly and is easy to operate and the software also provides many useful functions You can modify the unsatisfied actions of the
18. r intellect and handwork ability but you will experience the pleasure through assembly and testing it Through the software s control the Hexapod Monster will be able to simulate various behaviors of animals and that will make the science theory visualizes more The global appearance of Joinmax Robotic Arm Features It is able to move flexibly because it has 7 Servomotors for the joints control which forms 6 degree of freedom Each joint servo could be parallel connected or vertical connected The gripper at the end of the arm can be jointed to servo with 3 kinds of methods parallel vertically or rotated Using gear design for the gripper let it stretch and deliver object flexibly With built in standard AA 5 size rechargeable batteries box inside let the arm work stand alone Driven by a general purpose servo controller board with open protocol let this smart arm easy to be controlled by your own designed program or extending control board With two rotating angle indicators on the base make your control work more precisely 1 2 Parts list 1 45 Precise plastic items and 66 metallic parts the total is 111 separate parts 2 1 Mini servo controller board 3 7 servomotors 4 4 Extended Cables for Motor 5 1 Joinmax Mini Servo Explorer CD for installation 6 1 computer connecting cable 7 1 battery cable 8 l assembly manual You re reading it Chapter 2 How to Assemble It
19. rning forward or backward and make the adjusting pulse becomes zero so that the servomotor moves to the designated position 18 3 1 4 How to Control Servomotor A standard mini servomotor has three control wires which is power GND and control line The power wire and GND are used to supply the power to the D C motor and the control circuit The power should be between 4V 6V and separated from the one of processing system because the servomotor will cause high frequency noise and sometimes even a small servomotor can lower the voltage of the amplifier when it is loaded highly so the configuration of the power supply should be reasonable Normally servomotor requires a high pulse of Ims to 2ms in period and a low pulse of Sms to 20ms in period which is not very strict The illustration below demonstrates the relationship between the pulse length and the mini servomotor output shaft position the period of pulse is 20ms Input pulse width T 20MS Servo position 19 3 1 5 Power Supply wires of Servomotor Control Wire Yellow SERVO Power Red GND Black The yellow one is control wire which should be connected to control chip And the middle one is power supply wire and the power is usually 5 volt And the third one is GND 3 1 6 The Speed of Servomotor The instant speed of servomotor depends on the coordination between the internal D C motor and the gears and remains unchanged under a constant driving vo
Download Pdf Manuals
Related Search