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Construction of a prototype of the basic module of a scalable robotic system for simulation of composite surfaces for dynamic tests
- Authors: Grafkin A.V.1, Ponamarenko D.I.2
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Affiliations:
- Samara National Research University
- Volga State Transport University
- Issue: Vol 23, No 3 (2024)
- Pages: 167-177
- Section: INFORMATION SCIENCE, COMPUTING TECHNOLOGY AND CONTROL
- URL: https://journals.ssau.ru/vestnik/article/view/27918
- DOI: https://doi.org/10.18287/2541-7533-2024-23-3-167-177
- ID: 27918
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Abstract
The authors of the article developed a mathematical model of Stewart platform management. The angles of rotation of the servo shafts were obtained when setting various laws of motion of the mobile platform, in matrix mode. The hardware part of the prototype of the basic module of a scalable robotics system for modeling composite surfaces for dynamic tests was developed. The results of calculations of the maximum permissible load on the shafts of servos are presented. The CubeIDE settings for programming the STM32 microcontroller are given. The results of software development for the control of this prototype were obtained, namely, a library for controlling 6 servo drives under driver control was written. The problems that may arise during the above-described developments by future developers are considered, solutions to these problems are obtained. Detailed design features of this prototype are described, the control code of the servo drive is given; steps for further development of the final robotic system are considered
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About the authors
A. V. Grafkin
Samara National Research University
Author for correspondence.
Email: lvg_alex@mail.ru
Associate Professor, Department of Information Systems Security
Russian FederationD. I. Ponamarenko
Volga State Transport University
Email: maestrodark@icloud.com
Senior Lecturer of the Department of Mechanics and Engineering Graphics
Russian FederationReferences
- Grafkin A.V., Ponamarenko D.I., Mylnikov E.N. Basic module of a scale robotics system for simulation of complex surfaces for dynamic testing with WEB – constructor. Proceedings of Young Scientists and Specialists of the Samara University. 2022. No. 2 (21). P. 69-77. (In Russ.)
- Grafkin A.V., Mylnikov E.N., Ponamarenko D.I. WEB-constructor of scalable robotic systems for simulation of complex surfaces for dynamic testing. Proceedings of Young Scientists and Specialists of the Samara University. 2022. No. 2 (21). P. 78-86. (In Russ.)
- Low & medium-density value line, advanced ARM®-based 32-bit MCU with 16 to 128 KB Flash, 12 timers, ADC, DAC & 8 comm interfaces. Available at: https://www.st.com/resource/en/datasheet/stm32f100cb.pdf.html
- SG90 Dataset, Equivalent, Micro Servo. Available at: https://datasheetspdf.com/datasheet-pdf/791970/SG90.html
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