串联仿生毛毛虫的制作分享
本帖最后由 机器谱 于 2022-12-21 11:20 编辑1. 运动功能说明 该样机是一款纯关节串联的蠕虫形机器人，可以像虫子一样的上下蠕动前进，样子呈波浪状。
https://28846868.s21i.faiusr.com/3/ABUIABADGAAgnfeJmQYoxsSgjAUwsAQ4owM.gif.webp
2. 结构说明该样机由5个关节模组串联构成，结构比较单纯。
3. 运动功能实现 本样机只需要让5个舵机按照一定的时序，做出波浪形摆动的动作，即可实现蠕动爬行。舵机和关节模组的控制方法请参考如何驱动模拟舵机【https://www.robotway.com/h-col-129.html】，以及舵机关节模组【https://www.robotway.com/h-col-121.html】。
3.1 电子硬件
在这个示例中，采用了以下硬件，请大家参考：
主控板Basra（兼容Arduino Uno）
扩展板Bigfish2.1
电池7.4V锂电池
3.2 编写程序
编程环境：Arduino 1.8.19（1）实现尾部关节运动（Tail_Swing.ino），代码如下：/*------------------------------------------------------------------------------------
版权说明：Copyright 2022 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机器谱 2022-9-14 https://www.robotway.com/
------------------------------
实验功能： 实现机器毛毛虫尾部关节运动。
-----------------------------------------------------
实验接线：尾部关节模组的舵机接D8。
------------------------------------------------------------------------------------*/
#include <Servo.h>
#include <MsTimer2.h>
int servoPort={8,3,11,7,4}; //毛毛虫的舵机连接顺序及接口号，从尾巴开始。
Servo myServo;
long timeCount;
#define DELTATIME 10
void setup() {
Serial.begin(9600);
for(int i = 0; i < 5; i++)
myServo.attach(servoPort);
MsTimer2::set(DELTATIME, Timer);
MsTimer2::start();
delay(100);
}
void loop() {
ServoMove(0,60,120,2000); //0号舵机在2000ms内从60°转到120°
}
void Timer() {
timeCount++;
}
void ServoMove(int which, int start, int finish, long t)
{
static int a;
static long count = 0;
static int i = 0;
static boolean begin = true;
if(begin){
if( ( start - finish ) > 0 )
a = -1;
else
a = 1;
count = timeCount;
begin = false;
}
else{
if( ( timeCount - count ) < (t/DELTATIME) ){
if( ( timeCount - count ) > ( i * (t/DELTATIME) / (abs(start-finish)) ) ){
myServo.write( start + i * a );
delay(1);
i++;
Serial.println(start + i * a);
}
}
else{
i = 0;
begin = true;
count = 0;
}
}
}
此段程序之所以看起来那么复杂，是因为它搭建了一个程序框架，在这个框架中，大家可以通过改变参数，来决定哪个舵机运动，以及怎么运动，不需要重写整个程序。
（2）编写并烧录以下程序，它可以让毛毛虫全身的关节一起运动（Body_Swing.ino），代码如下：
/*------------------------------------------------------------------------------------
版权说明：Copyright 2022 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机器谱 2022-9-14 https://www.robotway.com/
------------------------------
实验功能： 实现机器毛毛虫全身关节运动。
-----------------------------------------------------
实验接线：从尾巴开始，对应舵机接口依次D8、D3、D11、D7、D4。
------------------------------------------------------------------------------------*/
#include <Servo.h>
#include <MsTimer2.h>
int servoPort={8,3,11,7,4};
Servo myServo;
long servoCount;
boolean begin = {true,true,true,true,true};
boolean complete = {false,false,false,false,false};
int direct = {1,1,1,1,1};
int delta = {0,0,0,0,0};
long timeCount;
#define DELTATIME 10
int up = 30; //关节起始角度
int down = 120; //关节终止角度
int turnTime = 1000; //关节运动时间
String inputString = ""; // a string to hold incoming data
boolean stringComplete = false; // whether the string is complete
void setup() {
Serial.begin(9600);
for(int i = 0; i < 5; i++)
myServo.attach(servoPort);
MsTimer2::set(DELTATIME, Timer);
MsTimer2::start();
delay(100);
}
void loop() {
static int phase = {0,0,0,0,0};
if (stringComplete) {
Serial.println(inputString);
up = inputString.substring(0,inputString.indexOf(',')).toInt();
inputString = inputString.substring(inputString.indexOf(',')+1,inputString.length());
down = inputString.substring(0,inputString.indexOf(',')).toInt();
turnTime = inputString.substring(inputString.indexOf(',')+1,inputString.length()).toInt();
Serial.println(up);
Serial.println(down);
Serial.println(turnTime);
inputString = "";
stringComplete = false;
}
if(phase == 0)
if(ServoMove(0,up,down,turnTime))
phase = 1;
if(phase == 1)
if(ServoMove(0,down,up,turnTime))
phase = 0;
if(phase == 0)
if(ServoMove(1,down,up,turnTime))
phase = 1;
if(phase == 1)
if(ServoMove(1,up,down,turnTime))
phase = 0;
if(phase == 0)
if(ServoMove(2,up,down,turnTime))
phase = 1;
if(phase == 1)
if(ServoMove(2,down,up,turnTime))
phase = 0;
if(phase == 0)
if(ServoMove(3,down,up,turnTime))
phase = 1;
if(phase == 1)
if(ServoMove(3,up,down,turnTime))
phase = 0;
if(phase == 0)
if(ServoMove(4,up,down,turnTime))
phase = 1;
if(phase == 1)
if(ServoMove(4,down,up,turnTime))
phase = 0;
}
void Timer() {
timeCount++;
}
void serialEvent() {
while (Serial.available()) {
char inChar = (char)Serial.read();
inputString += inChar;
if (inChar == '\n')
stringComplete = true;
}
}
boolean ServoMove(int which, int start, int finish, long t)
{
if(begin){
if( ( start - finish ) > 0 )
direct = -1;
else
direct = 1;
servoCount = timeCount;
begin = false;
complete = false;
}
else{
if( ( timeCount - servoCount ) < (t/DELTATIME) ){
if( ( timeCount - servoCount ) > ( delta * (t/DELTATIME) / (abs(start-finish)) ) ){
myServo.write( start + delta * direct );
delay(1);
delta++;
//Serial.println(start + i * a);
}
}
else{
delta = 0;
begin = true;
servoCount = 0;
complete = true;
}
}
return (complete);
}
烧录后，打开Serial Monitor，输入up,down,turnTime的值,可直接改变全部关节的运动参数，例如，输入50,100,2000。
关节的运动状态会实时发生变化。其中50代表摆动的起始角度50°，100代表摆动的终止角度100°，2000代表运动持续时间是2000毫秒。
（2） 上一例程中，机器毛毛虫相邻关节的运动相位差为180°，根据样机的运动姿态分析，各个关节的运动相位差为90°左右的时候运动效应该比较好。将相邻关节的运动相位差调整为90°（Worm_Go.ino），代码如下：/*------------------------------------------------------------------------------------
版权说明：Copyright 2022 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机器谱 2022-9-14 https://www.robotway.com/
------------------------------
实验功能： 实现机器毛毛虫向前蠕动爬行。
-----------------------------------------------------
实验接线：从尾巴开始，对应舵机接口依次D8、D3、D11、D7、D4。
------------------------------------------------------------------------------------*/
#include <Servo.h>
#include <MsTimer2.h>
int servoPort={8,3,11,7,4};
Servo myServo;
long servoCount;
boolean begin = {true,true,true,true,true};
boolean complete = {false,false,false,false,false};
int direct = {1,1,1,1,1};
int delta = {0,0,0,0,0};
long timeCount;
#define DELTATIME 10
int up = 30;
int down = 120;
int turnTime = 1000;
String inputString = ""; // a string to hold incoming data
boolean stringComplete = false; // whether the string is complete
void setup() {
Serial.begin(9600);
for(int i = 0; i < 5; i++)
myServo.attach(servoPort);
MsTimer2::set(DELTATIME, Timer);
MsTimer2::start();
delay(100);
}
void loop() {
static int phase = {0,0,0,0,0};
if (stringComplete) {
Serial.println(inputString);
up = inputString.substring(0,inputString.indexOf(',')).toInt();
inputString = inputString.substring(inputString.indexOf(',')+1,inputString.length());
down = inputString.substring(0,inputString.indexOf(',')).toInt();
turnTime = inputString.substring(inputString.indexOf(',')+1,inputString.length()).toInt();
Serial.println(up);
Serial.println(down);
Serial.println(turnTime);
inputString = "";
stringComplete = false;
}
if(phase == 0)
if(ServoMove(0,up,down,turnTime))
phase = 1;
if(phase == 1)
if(ServoMove(0,down,up,turnTime))
phase = 0;
if(servoCount>0 && (timeCount - servoCount)>(turnTime/(4*DELTATIME))){
if(phase == 0)
if(ServoMove(1,up,down,turnTime))
phase = 1;
if(phase == 1)
if(ServoMove(1,down,up,turnTime))
phase = 0;
}
if(servoCount>0 && (timeCount - servoCount)>(turnTime/(4*DELTATIME))){
if(phase == 0)
if(ServoMove(2,up,down,turnTime))
phase = 1;
if(phase == 1)
if(ServoMove(2,down,up,turnTime))
phase = 0;
}
if(servoCount>0 && (timeCount - servoCount)>(turnTime/(4*DELTATIME))){
if(phase == 0)
if(ServoMove(3,up,down,turnTime))
phase = 1;
if(phase == 1)
if(ServoMove(3,down,up,turnTime))
phase = 0;
}
if(servoCount>0 && (timeCount - servoCount)>(turnTime/(4*DELTATIME))){
if(phase == 0)
if(ServoMove(4,up,down,turnTime))
phase = 1;
if(phase == 1)
if(ServoMove(4,down,up,turnTime))
phase = 0;
}
}
void Timer() {
timeCount++;
}
void serialEvent() {
while (Serial.available()) {
char inChar = (char)Serial.read();
inputString += inChar;
if (inChar == '\n')
stringComplete = true;
}
}
boolean ServoMove(int which, int start, int finish, long t)
{
if(begin){
if( ( start - finish ) > 0 )
direct = -1;
else
direct = 1;
servoCount = timeCount;
begin = false;
complete = false;
}
else{
if( ( timeCount - servoCount ) < (t/DELTATIME) ){
if( ( timeCount - servoCount ) > ( delta * (t/DELTATIME) / (abs(start-finish)) ) ){
myServo.write( start + delta * direct );
delay(1);
delta++;
//Serial.println(start + i * a);
}
}
else{
delta = 0;
begin = true;
//servoCount = 0;
complete = true;
}
}
return (complete);
}
烧录后，打开Serial Monitor，输入up,down,turnTime的值，并实时观察运动变化。你可以通过这种方法调整机器人的运动姿态，直至对爬行效果满意为止。
4. 扩展样机本样机没有设计左右摆动的结构，因此不能左右转向，有兴趣的朋友可以尝试为其加上左右摆动的结构，让它的运动方式更加丰富。
5. 资料下载
资料内容：
①样机3D文件
②样机例程源代码
资料下载链接https://www.robotway.com/h-col-149.html
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