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Summary of Contents for Mantech FT-6DOF-NB
- Page 1 FT-6DOF-NB FEETECH 6 Degrees of Freedom Nano Biped kit FEETECH 6自由度双足机器人套件 Instruction Manual 使用说明手册 Version 1.00...
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Page 2: Table Of Contents
目录 Table of Contents 免责声明 Disclaimer ..................3 勘误Errata ......................3 注意事项Precautions.....................3 套件清单 Part list......................5 使用工具Tools ......................6 组装步骤... -
Page 3: 免责声明 Disclaimer
为不断地改进产品，本文档和本文档中提到的产品由本公司自行更改，恕不另行通知。 In view of unceasing improvement of products, this document and the product mentioned in this document are subject to be changed by the company without notice. 免责声明 Disclaimer 使用者在使用本产品所做的任何应用， 使用都必须自行承担一切风险。 本公司对于因使用要产品 所产生的直接、间接或附带损害，包括设备损失、人身安全健康损失、利润信誉损失都不负任何 责任。本公司产品不可用于救生或相关仪器设置。未满14岁儿童必须有成人陪同方可使用本产 品进行相关试验。 The user shall undertake all the risks in the applications where this product is used. The company shall not be liable for any direct, indirect or consequential damages due to the use of the product including but not limited to the loss of equipment, the loss of human safety and health and the loss of profit and reputation. - Page 4 维持电压一致的效能。 When using a battery power supply to the module, the voltage may lower after some while of operation and cause abnormal actions of the kit. In such case, remove and fully charge the battery before using again. If prolonged testing and operation is required, we suggest you use a power supply unit to ensure uniform performance.
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Page 5: 套件清单 Part List
套件清单 Part list Specifications and Item Illustration Quantity instructions Aluminum Main Aluminum Main U-shape Bracket for U-shape linking robot electronic modules with Bracket its leg parts FK-MU-001 Aluminum For connecting with servo-side bracket Foot Plate to fit the ankle servo FK-FP-001 Aluminum Servo-side... -
Page 6: 使用工具Tools
Specifications and Item Illustration Quantity instructions SCServo is meaning that Smart Control Servo. SCServo can work at servo mode and wheel mode, has a unique ID number to identify on BUS network, have kinds of baud rate available, and can SCServo feedback the value of Position, (SCS15) -
Page 7: 组装步骤 Assembly Procedure
between nut and bracket joints, to prevent the nut from loosening.) 组装步骤 Assembly Procedure. Kit packaging and all components 套件包装及所有零部件 步骤 1 安装脚板与脚踝舵机侧面支架 Installation of Foot Bracket Servo-side Bracket Foot Bracket 需要脚板( Servo-side Bracket 舵机侧面支架( ISOF 3 x 6 mm 沉头M3螺丝... - Page 8 步骤 2 安装两个脚踝舵机 Installation of two ankle servos Part of 步骤 1组件 step 1) Left ankle servo use ID1; Right ankle servo use ID2 SCS15 左脚踝舵机ID1,右脚踝舵机ID2( TP1P 2 x 6 mm 自攻螺丝( 步骤 3 安装长 U 型支架 Installation of U-shape Bracket 37mm U-shape Bracket 37mm 长U型支架( ISOP 3 x 6 mm)
- Page 9 步骤 5 安装短 U 型支架 Installation of U-shape Bracket 27mm U-shape Bracket 27mm 短U型支架( ISOP 3 x 6 mm) M3x6机牙螺丝( Nut 3 x 5 mm) M3 螺母( 步骤 6 安装 U 型支架到舵机 Installation of U U-shape Bracket to servos Part of 步骤...
- Page 10 步骤 8 安装 U 型支架到舵机 Installation of U-shape Bracket to servos Part of 步骤 7组件 step 7) U-shape Bracket 37mm 长U型支架( ISOP 3 x 4 mm) x 16 M3x4机牙螺丝 ( 安装时请注意舵盘上的红色中点标志 Pay attention to the red midpoint marks on the round servo horn 步骤...
- Page 11 步骤 10 连接舵机线 Connect black cable to servos Part of 步骤 9组件 step 9) Black 3P cable 黑色舵机3P绞线 ( 步骤 11 安装 NANO 扩展板与 TTLinker_mini Installation of NANO Shield and connect TTLi...
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Page 12: 下载安装Scservo Arduino库文件 Download And Install Scservo Arduino Lib
nker_mini Part of 步骤 10组件 step 10) NANO 扩展板 (NANO Shield ) TTLinker_mini ISOP 3 x 10 mm) M3x10机牙螺丝 ( Nut 3 x 5 mm) M3 螺母( 下载安装SCServo Arduino库文件 Download and install SCServo Arduino lib 在编辑及下载 Arduino程序之前，如果没有将SCServo 库文件放入Arduino软件安装路径的 libraries文件夹，请先到http://www.feetechrc.com/download/下载SCServo 库文件到本地电 脑，然后放解压放入libraries文件夹内。然后再运行Arduino软件。... -
Page 13: Scservo Arduino 库文件使用说明 Scservo Arduino Lib Instructions
download SCServo library files to the local computer, and then put decompression into the librar ies folder. At last run the Arduino software. SCServo Arduino 库文件使用说明 SCServo Arduino lib instructions 先将SCServo 库引入程序头文件 #include <SCServo.h> 初始化必须设置串口通讯波特率，SCServo 出厂默认波特率设置是1M。 Serial.begin(1000000);//init Serial baudrate SCServo 扭力输出使能指令有两个输入参数（SCServo.EnableTorque(ID,bit)），输入参数一是 ID（0～255），其中0xfe是广播ID；输入参数二是使能标志位，其中“1”为使能打开，“0”为... -
Page 14: 下载Arduino 程序 Download Arduino Program
SCServo.SyncWritePos(ID, 2, 100, 50); delay(2000); SCServo.SyncWritePos(ID, 2, 900, 100) 以上指令的具体运用可直接将SCServo库文件中示例下载到Arduino 控制板中，然后接上 TTLinker 信号转换板与SCServo舵机，即可以试验其功能。 下载Arduino 程序 Download Arduino Program 请先到http://www.feetechrc.com/download/下载Arduino_Program_biped_FT_6DOF_NB.rar到 本地电脑。然后解压。另外，请确认已将SCServo 库文件放入Arduino软件安装路径的libraries 文件夹，并且Arduino软件与控制板（Arduino Nano 需要另外购买）正常联接可以工作。 打开Arduino_Program_biped_FT_6DOF_NB.ino运行Arduino软件。 选择控制板型号与联接端口 （端 口号随不同Arduino Nano 而不同 ）。 Please go to http://www.feetechrc.com/download/ to download Arduino_Program_biped_FT_6DOF_ NB. Rar to the local computer. Then unpack. In addition, please confirm SCServo library file in t he Arduino libraries folder of software installation path, and the Arduino software and control boar d (Arduino Nano is not include in this kit) connection can work normally. -
Page 15: 做示范动作 Perform Demonstrative Motions
Arduino_Program_biped_FT_6DOF_NB.ino这个是工厂设置最简单的试验程序（程序流程图见附 件），用户可自行修改。 确认不修改或修改完成后点击upload Arduino_Program_biped_FT_6DOF_NB.ino This is the simplest factory test program (flow chart see attachment), User can mod ify itself. After the completion of modify or the confirmation not modify click upl 做示范动作 Perform Demonstrative Motions 确认已将以上步骤正确完成操作，以下是利用NANO Shield 上的两个按键及指示灯，来完成用手 动设置双足机器腿动作的操作视频。 Confirmed will be completed the above steps correctly, the following is the use of NANO shields on the two buttons and indicator lights, to complete the leg movements by manually bipedal machine operation video. -
Page 16: Sample Program Function Status Table
TTLinker_mini 原理图 示例程序功能状态表 Sample program function status table Function State LED1 LED2 Power on or Reset Program Start Motion Press Flash within 1 second Program Motion by Hand Enter Press Flash Program Motion by Hand Exit Press Save Current Motion Save Press Flash... - Page 17 Press Program Motion by Hand LED1_ Flash LED2_ OFF LED2_ ON Perform Motion Press LED1_ ON LED2_ Flash Save Current Motion LED1_ OFF LED2_ ON Press 初始动作设置 Program Start Motion 如果在第一次使用或要删除所有保存的动作， 重新设置初始姿势， 那么在上电或按了复位键 后 1 秒内按住 S2 键不放，直到 LED2 闪烁一次再放开。在直到 LED2 常亮为止这段时间内， 双足机器人必须保持想设置初始姿势的状态。LED2 常亮说明初始状态设置完成。...
- Page 18 用手扳动姿势 Program Motion by Hand 当 LED2 常亮时， 按下 S1 键让 LED2 灭同时 LED1 闪烁， 此时即进入用手扳动双足机器人姿势 状态，所有舵机没有扭力输出，可以用手任意扳动各个关节来设置自己想要的姿势。 备注，为了让动作的连续性，请不要设置两个姿势之间的关节移动角度太大。 When LED2 normally on, press the S1 button to let LED2 off and LED1 flashing, at this time ca n to set biped robot motion by hand, all SCServo torque output off, can be arbitrary flipping in bi ped robot’s degree of freedom by hand to set up the position you want.
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