原文链接：https://www.yourcee.com/newsinfo/2928597.html

简介

机械臂由Arduino,舵机和MeArm硬件组成,Arduino通过程序驱动舵机，控制机械臂，简单地实现机械臂的功能。舵机 有两种一种是模拟舵机，一种是数字舵机。数字舵机(Digital Servo)和模拟舵机(Analog Servo)在基本的机械结构方面是完全一样的，主要由马达、减速齿轮、控制电路等组成，而数字舵机和模拟舵机的最大区别则体现在控制电路上，数字舵机的控制电路比模拟舵机的多了微处理器和晶振。数字舵机反应速度更快，无反应区范围小，定位精度高，抗干扰能力强逐渐取代模拟电机在机器人、航模中的应用。

接线图

Arduino代码

*/
#include <Servo.h>                //使用servo库
Servo base, fArm, rArm, claw ;    //创建4个servo对象//存储电机极限值(const指定该数值为常量,常量数值在程序运行中不能改变)
const int baseMin = 0;
const int baseMax = 180;
const int rArmMin = 45;
const int rArmMax = 180;
const int fArmMin = 35;
const int fArmMax = 120;
const int clawMin = 25;
const int clawMax = 100;int DSD = 15; //Default Servo Delay (默认电机运动延迟时间)//此变量用于控制电机运行速度.增大此变量数值将//降低电机运行速度从而控制机械臂动作速度。
bool mode;  //mode = 1: 指令模式，  mode = 0: 手柄模式
int moveStep = 3;  // 每一次按下手柄按键，舵机移动量（仅适用于手柄模式）           
void setup(){base.attach(11);     // base 伺服舵机连接引脚11 舵机代号'b'delay(200);          // 稳定性等待rArm.attach(10);     // rArm 伺服舵机连接引脚10 舵机代号'r'delay(200);          // 稳定性等待fArm.attach(9);      // fArm 伺服舵机连接引脚9  舵机代号'f'delay(200);          // 稳定性等待claw.attach(6);      // claw 伺服舵机连接引脚6  舵机代号'c'delay(200);          // 稳定性等待base.write(90); delay(10);fArm.write(90); delay(10);rArm.write(90); delay(10);claw.write(90);  delay(10); Serial.begin(9600); Serial.println("Welcome to Taichi-Maker Robot Arm Tutorial");   
}void loop(){if (Serial.available()>0) {  char serialCmd = Serial.read();if( mode == 1 ){armDataCmd(serialCmd); //指令模式} else {armJoyCmd(serialCmd); //手柄模式}}
}void armDataCmd(char serialCmd){ //Arduino根据串行指令执行相应操作//指令示例：b45 底盘转到45度角度位置//          o 输出机械臂舵机状态信息//判断人类是否因搞错模式而输入错误的指令信息（指令模式下输入手柄按键信息）if (   serialCmd == 'w' || serialCmd == 's' || serialCmd == 'a' || serialCmd == 'd' || serialCmd == '5' || serialCmd == '4' || serialCmd == '6' || serialCmd == '8' ){Serial.println("+Warning: Robot in Instruction Mode..."); delay(100);while(Serial.available()>0) char wrongCommand = Serial.read();  //清除串口缓存的错误指令return;} if (serialCmd == 'b' || serialCmd == 'c' || serialCmd == 'f' || serialCmd == 'r'){int servoData = Serial.parseInt();servoCmd(serialCmd, servoData, DSD);  // 机械臂舵机运行函数（参数：舵机名，目标角度，延迟/速度）} else {switch(serialCmd){   case 'm' :   //切换至手柄模式 mode = 0; Serial.println("Command: Switch to Joy-Stick Mode.");break;case 'o':  // 输出舵机状态信息reportStatus();break;case 'i':armIniPos();  break;default:  //未知指令反馈Serial.println("Unknown Command.");}}  
}void armJoyCmd(char serialCmd){ //Arduino根据手柄按键执行相应操作//判断人类是否因搞错模式而输入错误的指令信息（手柄模式下输入舵机指令）if (serialCmd == 'b' || serialCmd == 'c' || serialCmd == 'f' || serialCmd == 'r'){Serial.println("+Warning: Robot in Joy-Stick Mode...");delay(100);while(Serial.available()>0) char wrongCommand = Serial.read();  //清除串口缓存的错误指令return;} int baseJoyPos;int rArmJoyPos;int fArmJoyPos;int clawJoyPos;switch(serialCmd){case 'a':  // Base向左Serial.println("Received Command: Base Turn Left");                baseJoyPos = base.read() - moveStep;servoCmd('b', baseJoyPos, DSD);break;  case 'd':  // Base向右Serial.println("Received Command: Base Turn Right");                baseJoyPos = base.read() + moveStep;servoCmd('b', baseJoyPos, DSD);break;        case 's':  // rArm向下Serial.println("Received Command: Rear Arm Down");                rArmJoyPos = rArm.read() + moveStep;servoCmd('r', rArmJoyPos, DSD);break;  case 'w':  // rArm向上Serial.println("Received Command: Rear Arm Up");     rArmJoyPos = rArm.read() - moveStep;servoCmd('r', rArmJoyPos, DSD);break;  case '8':  // fArm向上Serial.println("Received Command: Front Arm Up");        fArmJoyPos = fArm.read() + moveStep;servoCmd('f', fArmJoyPos, DSD);break;  case '5':  // fArm向下Serial.println("Received Command: Front Arm Down");        fArmJoyPos = fArm.read() - moveStep;servoCmd('f', fArmJoyPos, DSD);break;  case '4':  // Claw关闭Serial.println("Received Command: Claw Close Down");        clawJoyPos = claw.read() + moveStep;servoCmd('c', clawJoyPos, DSD);break;  case '6':  // Claw打开Serial.println("Received Command: Claw Open Up");     clawJoyPos = claw.read() - moveStep;servoCmd('c', clawJoyPos, DSD);break;  case 'm' :   //切换至指令模式 mode = 1; Serial.println("Command: Switch to Instruction Mode.");break;case 'o':  reportStatus();break;case 'i':  armIniPos();break;default:Serial.println("Unknown Command.");return;}  
}
void servoCmd(char servoName, int toPos, int servoDelay){  Servo servo2go;  //创建servo对象//串口监视器输出接收指令信息Serial.println("");Serial.print("+Command: Servo ");Serial.print(servoName);Serial.print(" to ");Serial.print(toPos);Serial.print(" at servoDelay value ");Serial.print(servoDelay);Serial.println(".");Serial.println("");int fromPos; //建立变量，存储电机起始运动角度值switch(servoName){case 'b':if(toPos >= baseMin && toPos <= baseMax){servo2go = base;fromPos = base.read();  // 获取当前电机角度值用于“电机运动起始角度值”break;} else {Serial.println("+Warning: Base Servo Value Out Of Limit!");return;}case 'c':if(toPos >= clawMin && toPos <= clawMax){    servo2go = claw;fromPos = claw.read();  // 获取当前电机角度值用于“电机运动起始角度值”break;} else {Serial.println("+Warning: Claw Servo Value Out Of Limit!");return;        }case 'f':if(toPos >= fArmMin && toPos <= fArmMax){servo2go = fArm;fromPos = fArm.read();  // 获取当前电机角度值用于“电机运动起始角度值”break;} else {Serial.println("+Warning: fArm Servo Value Out Of Limit!");return;}case 'r':if(toPos >= rArmMin && toPos <= rArmMax){servo2go = rArm;fromPos = rArm.read();  // 获取当前电机角度值用于“电机运动起始角度值”break;} else {Serial.println("+Warning: rArm Servo Value Out Of Limit!");return;}      }//指挥电机运行if (fromPos <= toPos){  //如果“起始角度值”小于“目标角度值”for (int i=fromPos; i<=toPos; i++){servo2go.write(i);delay (servoDelay);}}  else { //否则“起始角度值”大于“目标角度值”for (int i=fromPos; i>=toPos; i--){servo2go.write(i);delay (servoDelay);}}
}void reportStatus(){  //舵机状态信息Serial.println("");Serial.println("");Serial.println("+ Robot-Arm Status Report +");Serial.print("Claw Position: "); Serial.println(claw.read());Serial.print("Base Position: "); Serial.println(base.read());Serial.print("Rear  Arm Position:"); Serial.println(rArm.read());Serial.print("Front Arm Position:"); Serial.println(fArm.read());Serial.println("++++++++++++++++++++++++++");Serial.println("");
}void armIniPos(){Serial.println("+Command: Restore Initial Position.");int robotIniPosArray[4][3] = {{'b', 90, DSD},{'r', 90, DSD},{'f', 90, DSD},{'c', 90, DSD} };for (int i = 0; i < 4; i++){servoCmd(robotIniPosArray[i][0], robotIniPosArray[i][1], robotIniPosArray[i][2]);}
}

总结

Arduino通过程序驱动四个舵机，控制机械臂，简单地实现机械臂的功能。