40623202
commented
5 years ago 我畫娃娃機本體
Open 40623247 opened 5 years ago
40623202
commented
5 years ago 我畫娃娃機本體
40623249
commented
5 years ago 這邊不能傳STL 檔 所以傳電子郵件 40623249@gm.nfu.edu.tw 40623214@gm.nfu.edu.tw 40623236@gm.nfu.edu.tw 40623220@gm.nfu.edu.tw
40623209
commented
5 years ago 夾爪機構設計分工 40623202 負責繪製夾娃娃機外殼 40623209 負責繪製軸套 40623215 負責繪製滑軌、爪子 40623250 負責繪製夾爪軸、組合整體機構
40623247
commented
5 years ago 記得每個人都要模擬拍影片，放到個人倉儲裡
40623215
commented
5 years ago 爪子給47號畫
40623215
commented
5 years ago 等組合好就開始V-rep模擬
40623250
commented
5 years ago 已寄出stl檔
40623249
commented
5 years ago 我把組裝完的都傳到你們的信箱了
40623220
commented
5 years ago -- model in Solvespace 500 mm = 5000 mm in V-rep --[[ Simulation is 10 times of realistic environment floor in Solvespace 2.5 m x 2.5 m = 25 m x 25 m in V-rep ball is in Solivespace 1g (0.001) = 0.01 kg in V-rep hammer is in Solvespace 0.1 kg (100g) = 1kg in V-rep (0.1 for Inertia) ]] --local joint_r = {'left_joint1','left_joint2','left_joint3','left_joint4',} local slider_x ='slider_x' local slider_y ='slider_y' local slider_z ='slider_z'
threadFunction=function()
while sim.getSimulationState()~=sim.simulation_advancing_abouttostop do
-- Read the keyboard messages (make sure the focus is on the main window, scene view):
message,auxiliaryData=sim.getSimulatorMessage()
while message~=-1 do
key=auxiliaryData[1]
sim.addStatusbarMessage('key:'..key)
if (message == sim.message_keypress) then
if (auxiliaryData[1]==2007) then
-- up key
if (sliding_x>=0.3)then else sliding_x = sliding_x + 0.005 end
sim.addStatusbarMessage('sliding_x:'..sliding_x)
end
if (auxiliaryData[1]==2008) then
-- down key
if (sliding_x<=-0.3)then else sliding_x = sliding_x - 0.005 end
sim.addStatusbarMessage('sliding_x:'..sliding_x)
end
if (auxiliaryData[1]==2009) then
-- right key
if (sliding_y>=0.3)then else sliding_y = sliding_y + 0.005 end
sim.addStatusbarMessage('sliding_y:'..sliding_y)
end
if (auxiliaryData[1]==2010) then
-- left key
if (sliding_y<=-0.3)then else sliding_y = sliding_y - 0.005 end
sim.addStatusbarMessage('sliding_y:'..sliding_y)
end
if (auxiliaryData[1]==119) then
-- z-up key
if (sliding_z>=0.3)then else sliding_z = sliding_z + 0.005 end
sim.addStatusbarMessage('sliding_z:'..sliding_z)
end
if (auxiliaryData[1]==115) then
-- z-down key
if (sliding_z<=-0.3)then else sliding_z = sliding_z - 0.005 end
sim.addStatusbarMessage('sliding_z:'..sliding_z)
end
end
message,auxiliaryData=sim.getSimulatorMessage()
end
-- We take care of setting the desired hammer position:
--sim.setJointForce(joint,torque)
sim.setJointTargetPosition(slider_x, sliding_x)
sim.setJointTargetPosition(slider_y, sliding_y)
sim.setJointTargetPosition(slider_z, sliding_z)
--Since this script is threaded, don't waste time here:
sim.switchThread() -- Resume the script at next simulation loop start
end
end -- Put some initialization code here: -- Retrieving of some handles and setting of some initial values: slider_x=sim.getObjectHandle(slider_x) slider_y=sim.getObjectHandle(slider_y) slider_z=sim.getObjectHandle(slider_z) velocity=0 hammer_back=0 torque=0 sliding_x = 0 sliding_y = 0 sliding_z = 0 --orientation=sim.getJointPosition(joint_all_c1, -1) -- Here we execute the regular thread code: res,err=xpcall(threadFunction,function(err) return debug.traceback(err) end) if not res then sim.addStatusbarMessage('Lua runtime error: '..err) end
-- Put some clean-up code here:
將每個人負責的部分及零件介紹放上來