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stage2-bg1

20210326

討論做什麼

結論:

轉子引擎

利用追蹤頂點路徑取得不規則曲線草圖(20rpm)

20210402

繪製轉子

外型參考勒洛三角形繪製而成

齒數為52齒模數為2

20210403

偏心軸繪製完成

20210404

擋板繪製完成

齒數為34齒模數為2

20210405

外殼繪製完成

輪廓為不規則曲面擷取不規則取線方法

20210406

組合圖完成

solidworks模擬影片(20rpm)

20210407

因為在coppeliasim中模擬屢次失敗，所以我們決定換題目。

討論改什麼

結論:堆高機

20210411

前輪繪製完成

後輪繪製完成

底盤繪製完成

20210413

20210414

擋板繪製完成

堆高機組合圖完成

20210415

加入wasd控制堆高機

參考:https://mdekmol.github.io/cd2019a-task1-2019cda_t1_g2/content/Vrep-2.html

function sysCall_init() 
    left_front_handle= sim.getObjectHandle('left_joint')
    left_back_handle= sim.getObjectHandle('left_joint')
    right_back_handle= sim.getObjectHandle('right_joint')
    right_front_handle= sim.getObjectHandle('right_joint')
    MaxVel=2
    leftvelocity=0
    rightvelocity=0
    dVel=100;
    --sim.setJointTargetVelocity(left_front_handle,leftvelocity)
    sim.setJointTargetVelocity(left_back_handle,leftvelocity)
    sim.setJointTargetVelocity(right_back_handle,rightvelocity)
    --sim.setJointTargetVelocity(right_front_handle,rightvelocity)
end

function sysCall_actuation() 
    message,auxiliaryData=sim.getSimulatorMessage()
    while message~=-1 do
        if (message==sim.message_keypress) then
            if (auxiliaryData[1]==32) then
                -- right key
                leftvelocity=0
                rightvelocity=0
                sim.setJointForce(left_front_handle, 0)
                sim.setJointForce(left_back_handle, 0)
                sim.setJointForce(right_back_handle, 0)
                sim.setJointForce(right_front_handle, 0)
                break
            else
                --sim.setJointForce(left_front_handle, 10000)
                sim.setJointForce(left_back_handle, 10000)
                sim.setJointForce(right_back_handle, 10000)
                --sim.setJointForce(right_front_handle, 10000)
            end
            if (auxiliaryData[1]==119) then
                -- w key
                leftvelocity=(leftvelocity+rightvelocity)/2
                rightvelocity=leftvelocity
                leftvelocity=leftvelocity+dVel
                rightvelocity=rightvelocity+dVel
            end
            if (auxiliaryData[1]==115) then
                -- s key
                leftvelocity=(leftvelocity+rightvelocity)/2
                rightvelocity=leftvelocity
                leftvelocity=leftvelocity-dVel
                rightvelocity=rightvelocity-dVel
            end
            if (auxiliaryData[1]==97) then
                -- a key
                leftvelocity=leftvelocity-dVel
                rightvelocity=rightvelocity+dVel
            end
            if (auxiliaryData[1]==100) then
                -- d key
                leftvelocity=leftvelocity+dVel
                rightvelocity=rightvelocity-dVel
            end
        end
        message,auxiliaryData=sim.getSimulatorMessage()
    end
    
    if leftvelocity>MaxVel then
        leftvelocity=MaxVel
    end
    if leftvelocity<-MaxVel then
        leftvelocity=-MaxVel
    end
    
    if rightvelocity>MaxVel then
                rightvelocity=MaxVel
    end
    if rightvelocity<-MaxVel then
                rightvelocity=-MaxVel
    end
    
    --sim.setJointTargetVelocity(left_front_handle,leftvelocity)
    sim.setJointTargetVelocity(left_back_handle,leftvelocity)
    sim.setJointTargetVelocity(right_back_handle,rightvelocity)
    --sim.setJointTargetVelocity(right_front_handle,rightvelocity)
    
end

程式

20210417

齒輪繪製完成，齒數為51，模數為2

在插鏟上增加齒條，模數為2

20210418

加入方向鍵控制插鏟功能

程式:

function sysCall_init() 
    left_front_handle= sim.getObjectHandle('left_joint')
    left_back_handle= sim.getObjectHandle('left_joint')
    right_back_handle= sim.getObjectHandle('right_joint')
    right_front_handle= sim.getObjectHandle('right_joint')
    gear_up_handle= sim.getObjectHandle('gear_joint')
    gear_down_handle= sim.getObjectHandle('gear_joint')
    MaxVel=10
    MaxVel_gear=30
    leftvelocity=0
    rightvelocity=0
    upvelocity=0
    dVel=10;
    dVel_gear=10;
    --sim.setJointTargetVelocity(left_front_handle,leftvelocity)
    sim.setJointTargetVelocity(left_back_handle,leftvelocity)
    sim.setJointTargetVelocity(right_back_handle,rightvelocity)
    sim.setJointTargetVelocity(gear_down_handle,upvelocity)
    --sim.setJointTargetVelocity(right_front_handle,rightvelocity)
end

function sysCall_actuation() 
    message,auxiliaryData=sim.getSimulatorMessage()
    while message~=-1 do
        if (message==sim.message_keypress) then
            if (auxiliaryData[1]==32) then
                leftvelocity=0
                rightvelocity=0
                upvelocity=0
                sim.setJointForce(left_front_handle, 0)
                sim.setJointForce(left_back_handle, 0)
                sim.setJointForce(right_back_handle, 0)
                sim.setJointForce(right_front_handle, 0)
                sim.setJointForce(gear_up_handle, 0)
                sim.setJointForce(gear_down_handle, 0)
                break
            else
                --sim.setJointForce(left_front_handle, 10000)
                sim.setJointForce(left_back_handle, 10000)
                sim.setJointForce(right_back_handle, 10000)
                sim.setJointForce(gear_down_handle, 10000)
                --sim.setJointForce(right_front_handle, 10000)
            end
            if (auxiliaryData[1]==119) then
                -- w key
                leftvelocity=(leftvelocity+rightvelocity)/2
                rightvelocity=leftvelocity
                leftvelocity=leftvelocity+dVel
                rightvelocity=rightvelocity+dVel
            end
            if (auxiliaryData[1]==115) then
                -- s key
                leftvelocity=(leftvelocity+rightvelocity)/2
                rightvelocity=leftvelocity
                leftvelocity=leftvelocity-dVel
                rightvelocity=rightvelocity-dVel
            end
            if (auxiliaryData[1]==97) then
                -- a key
                leftvelocity=leftvelocity-dVel
                rightvelocity=rightvelocity+dVel
            end
            if (auxiliaryData[1]==100) then
                -- d key
                leftvelocity=leftvelocity+dVel
                rightvelocity=rightvelocity-dVel
            end
            if (auxiliaryData[1]==100) then
                -- d key
                leftvelocity=leftvelocity+dVel
                rightvelocity=rightvelocity-dVel
            end
            if (auxiliaryData[1]==2008) then
                -- up key
                upvelocity=upvelocity+dVel_gear
            end
            if (auxiliaryData[1]==2007) then
                -- down key
                upvelocity=upvelocity-dVel_gear
            end
            
        end
        message,auxiliaryData=sim.getSimulatorMessage()
    end
    
    if leftvelocity>MaxVel then
        leftvelocity=MaxVel
    end
    if leftvelocity<-MaxVel then
        leftvelocity=-MaxVel
    end
    
    if rightvelocity>MaxVel then
                rightvelocity=MaxVel
    end
    if rightvelocity<-MaxVel then
                rightvelocity=-MaxVel
    end
    if upvelocity>MaxVel_gear then
                    upvelocity=MaxVel_gear
    end
    if upvelocity<-MaxVel_gear then
                    upvelocity=-MaxVel_gear
    end
    
    --sim.setJointTargetVelocity(left_front_handle,leftvelocity)
    sim.setJointTargetVelocity(left_back_handle,leftvelocity)
    sim.setJointTargetVelocity(right_back_handle,rightvelocity)
    sim.setJointTargetVelocity(gear_down_handle,upvelocity)
    --sim.setJointTargetVelocity(right_front_handle,rightvelocity)
    
end

20210422

修改齒輪長度，增加強度

原本中間一根尺條改成兩旁兩根尺，增加抓力，改善駕駛員視線

成品圖:

修改後成果

程式

function sysCall_init() 
    left_front_handle= sim.getObjectHandle('left_joint')
    left_back_handle= sim.getObjectHandle('left_joint')
    right_back_handle= sim.getObjectHandle('right_joint')
    right_front_handle= sim.getObjectHandle('right_joint')
    gear_up_handle= sim.getObjectHandle('gear_joint')
    gear_down_handle= sim.getObjectHandle('gear_joint')
    MaxVel=20
    MaxVel_gear=30
    leftvelocity=0
    rightvelocity=0
    upvelocity=0
    dVel=10;
    dVel_gear_up=30;
    dVel_gear_dwon=20;
    a=13;
    --sim.setJointTargetVelocity(left_front_handle,leftvelocity)
    sim.setJointTargetVelocity(left_back_handle,leftvelocity)
    sim.setJointTargetVelocity(right_back_handle,rightvelocity)
    sim.setJointTargetVelocity(gear_down_handle,upvelocity)
    --sim.setJointTargetVelocity(right_front_handle,rightvelocity)
end

function sysCall_actuation() 
    message,auxiliaryData=sim.getSimulatorMessage()
    while message~=-1 do
        if (message==sim.message_keypress) then
            if (auxiliaryData[1]==32) then
                leftvelocity=0
                rightvelocity=0
                upvelocity=0
                sim.setJointForce(left_front_handle, 0)
                sim.setJointForce(left_back_handle, 0)
                sim.setJointForce(right_back_handle, 0)
                sim.setJointForce(right_front_handle, 0)
                sim.setJointForce(gear_up_handle, 0)
                sim.setJointForce(gear_down_handle, 0)
                break
            else
                --sim.setJointForce(left_front_handle, 10000)
                sim.setJointForce(left_back_handle, 10000)
                sim.setJointForce(right_back_handle, 10000)
                sim.setJointForce(gear_down_handle, 10000)
                --sim.setJointForce(right_front_handle, 10000)
            end
            if (auxiliaryData[1]==119) then
                -- w key
    
                leftvelocity=leftvelocity+a
                rightvelocity=rightvelocity+dVel
            end
            if (auxiliaryData[1]==115) then
                -- s key
                leftvelocity=(leftvelocity+rightvelocity)/2
                rightvelocity=leftvelocity
                leftvelocity=leftvelocity-dVel
                rightvelocity=rightvelocity-dVel
            end
            if (auxiliaryData[1]==97) then
                -- a key
                leftvelocity=leftvelocity-dVel
                rightvelocity=rightvelocity+dVel
            end
            if (auxiliaryData[1]==100) then
                -- d key
                leftvelocity=leftvelocity+dVel
                rightvelocity=rightvelocity-dVel
            end
            if (auxiliaryData[1]==100) then
                -- d key
                leftvelocity=leftvelocity+dVel
                rightvelocity=rightvelocity-dVel
            end
            if (auxiliaryData[1]==2008) then
                -- down key
                upvelocity=upvelocity+dVel_gear_dwon
            end
            if (auxiliaryData[1]==2007) then
                -- up key
                upvelocity=upvelocity-dVel_gear_up
            end
            
        end
        message,auxiliaryData=sim.getSimulatorMessage()
    end
    
    if leftvelocity>MaxVel then
        leftvelocity=MaxVel
    end
    if leftvelocity<-MaxVel then
        leftvelocity=-MaxVel
    end
    
    if rightvelocity>MaxVel then
                rightvelocity=MaxVel
    end
    if rightvelocity<-MaxVel then
                rightvelocity=-MaxVel
    end
    if upvelocity>MaxVel_gear then
                    upvelocity=MaxVel_gear
    end
    if upvelocity<-MaxVel_gear then
                    upvelocity=-MaxVel_gear
    end
    
    --sim.setJointTargetVelocity(left_front_handle,leftvelocity)
    sim.setJointTargetVelocity(left_back_handle,leftvelocity)
    sim.setJointTargetVelocity(right_back_handle,rightvelocity)
    sim.setJointTargetVelocity(gear_down_handle,upvelocity)
    --sim.setJointTargetVelocity(right_front_handle,rightvelocity)
    
end

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