夾娃娃機設計

[40623247]

將每個人負責的部分及零件介紹放上來

[40623202]

我畫娃娃機本體

[40623249]

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]

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]

記得每個人都要模擬拍影片，放到個人倉儲裡

[40623215]

爪子給47號畫

[40623215]

等組合好就開始V-rep模擬

[40623250]

已寄出stl檔

[40623249]

我把組裝完的都傳到你們的信箱了

[40623220]

-- 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: