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Step 1 - 材料收集


https://s3-us-west-2.amazonaws.com/secure.notion-static.com/8bbae81e-7bf4-4df5-a76b-650618231004/IMG_1215.jpg

Step 2 - 安裝 base 馬達

https://s3-us-west-2.amazonaws.com/secure.notion-static.com/ed87422a-44dd-4925-9828-b3a8e6cd1cc5/IMG_1216.jpg

注意:2 顆 MG958 馬達分別用在 base 和 elbow 關節,其餘關節則使用 MG996R。


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Step 3 - 結合馬達擺臂與零件齒輪

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https://s3-us-west-2.amazonaws.com/secure.notion-static.com/1e0df346-d537-43b9-9ee3-4834874443be/IMG_1219.jpeg

建議:在此階段,可同時將下列 4 個齒輪零件鎖上擺臂,以供後續使用

  1. wrist_arm_servo_gear (8 teeth)
  2. elbow_arm_servo_gear (8 teeth)
  3. base_arm_servo_gear (8 teeth)
  4. base_slew_bearing_servo_gear (12 teeth)

注意:照片中所示的黑色擺臂為 MG996R 的圓形擺臂,可和 MG958 通用。若圓形擺臂不足,可用其餘十字擺臂剪短代替。

注意:圖中為 base_arm_servo_gear (8 teeth) 的零件,和 elbow_arm_servo_gear (8 teeth) 完全相同。但和 wrist_arm_servo_gear (8 teeth) 不同,有些微差異,後續安裝時請注意。


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Step 4 - 安裝 base 伺服齒輪擺臂

https://s3-us-west-2.amazonaws.com/secure.notion-static.com/354c2631-96a0-4f56-b75e-ff6b918de1a2/IMG_1221.jpg


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Step 5 - 完成 base 木板安裝

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https://s3-us-west-2.amazonaws.com/secure.notion-static.com/990d7ed4-856c-45fb-a46c-aa99643397b3/IMG_1227.jpg


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Step 6 - 組合 base

https://s3-us-west-2.amazonaws.com/secure.notion-static.com/690440ea-fb5f-46c5-aa09-86ee40f08d1d/ScreenShot2018-12-02at3.38.10AM.png

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https://s3-us-west-2.amazonaws.com/secure.notion-static.com/497b8dcc-e55a-429a-8563-95f0bce5fb68/IMG_1234copy.jpg

建議:可以先將培林基座用膠帶固定後,預先鎖上 M3 x 15 螺絲,再塞入 slew_bearing_roll,比較不容易滑掉失敗。


https://s3-us-west-2.amazonaws.com/secure.notion-static.com/e040a49f-8ff2-4e2f-aa0f-b27806bf7652/ScreenShot2018-12-02at1.31.02PM.png

Step 7 - 把 arm_base 接到 base 上

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https://s3-us-west-2.amazonaws.com/secure.notion-static.com/eec9c90e-fa2d-4af9-aad7-3c7b91e5eb92/IMG_1234.jpg

注意:極限的方向取決於 arm 裝上後,馬達可順利帶動 arm 機構運動,而不是卡死。


https://s3-us-west-2.amazonaws.com/secure.notion-static.com/51fd9a00-9404-4cf4-b871-580fa4071830/IMG_1241.jpg

Step 8 - 安裝 elbow

https://s3-us-west-2.amazonaws.com/secure.notion-static.com/a1a2978c-4eee-4491-ab39-3ca9cad74eaf/IMG_1240.jpg