用机械手抓取零件的代码.pdf

用机械手抓取零件的代码

以下是一个简单的Python机械手代码示例，用于抓取零件：```python

importRPi.GPIOasGPIO

importtime

#机械臂标准动作步骤

defpick_and_place():

#机械臂初始位置

GPIO.output(EN,GPIO.HIGH)#释放电机

GPIO.output(DIR,CW)#电机正向旋转

foriinrange(int(STEPS_PER_REV/4)):

GPIO.output(STEP,GPIO.HIGH)

time.sleep(DELAY)

GPIO.output(STEP,GPIO.LOW)

time.sleep(DELAY)

#机械臂下降并抓取零件

GPIO.output(DIR,CCW)#电机反向旋转

foriinrange(pick_steps):

GPIO.output(STEP,GPIO.HIGH)

time.sleep(DELAY)

GPIO.output(STEP,GPIO.LOW)

time.sleep(DELAY)

#机械臂向上抬起零件

GPIO.output(DIR,CW)#电机正向旋转

foriinrange(pick_steps):

GPIO.output(STEP,GPIO.HIGH)

time.sleep(DELAY)

GPIO.output(STEP,GPIO.LOW)

time.sleep(DELAY)

#机械臂左移一定距离

GPIO.output(DIR,CCW)#电机反向旋转

foriinrange(move_steps):

GPIO.output(STEP,GPIO.HIGH)

time.sleep(DELAY)

GPIO.output(STEP,GPIO.LOW)

time.sleep(DELAY)

#机械臂下降并放置零件

GPIO.output(DIR,CCW)#电机反向旋转

foriinrange(place_steps):

GPIO.output(STEP,GPIO.HIGH)

time.sleep(DELAY)

GPIO.output(STEP,GPIO.LOW)

time.sleep(DELAY)

#机械臂向上抬起并回到初始位置

GPIO.output(DIR,CW)#电机正向旋转

foriinrange(place_steps+pick_steps):

GPIO.output(STEP,GPIO.HIGH)

time.sleep(DELAY)

GPIO.output(STEP,GPIO.LOW)

time.sleep(DELAY)

foriinrange(int(STEPS_PER_REV/4)):

GPIO.output(STEP,GPIO.HIGH)

time.sleep(DELAY)

GPIO.output(STEP,GPIO.LOW)

time.sleep(DELAY)

#初始化GPIO

GPIO.setmode(GPIO.BCM)

GPIO.setwarnings(False)

DIR=20#方向口

STEP=21#步进口

EN=16#使能口

GPIO.setup(DIR,GPIO.OUT)

GPIO.setup(STEP,GPIO.OUT)

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