Six-claw robot

This solution implements six claws with three joints each and a gripper to create various action effects. It has infrared obstacle detection and avoidance functions, low battery warning function, and supports Bluetooth pairing and APP control.

This solution uses 20 channels of PWM to control the servo motor. Among them, 18 PWM channels are used to control the 6 claws of the robot, and each claw has 3 servo motors. By adjusting the duty cycle of the PWM output, we can control the rotation angle of the servo motor and operate the robot to make various actions. The other 2 PWM channels are used to control the gripper in front of the robot, and can operate the opening and closing of the gripper.

M0518 has a total of 24 PWM channels, 20 PWM channels are used for robot motion control, and 4 PWM channels can realize other functions. Two of the PWM channels are used to send and capture infrared signals. The PWM simulates IrDA encoding output, and another set of PWM captures the input. When there is an obstacle in front, the obstacle will reflect the infrared signal. After confirming whether the received signal is the same as the code sent, it can detect whether there is an obstacle in front. If there is an obstacle, the robot will move backward to avoid collision.

The other 2 PWM channels are used to control LED and buzzer. By controlling the duty cycle of the PWM, the brightness of the LED is adjusted; by adjusting the output frequency of the PWM, the audio of the buzzer can also be adjusted to emit sounds of different frequencies.

This solution has the function of battery power detection. It can detect the battery power by converting the battery voltage through ADC. When the voltage value detected by the ADC is lower than the established limit, the buzzer will sound to remind the operator that the battery power is too low.

For robot communication, UART is used to connect to the Bluetooth module. Using the written mobile APP, after completing the Bluetooth pairing, you can operate the six-claw robot through your smartphone or tablet.

• Nuvoton NuMicro Arm® Cortex®-M0 series can support a wide operating voltage of 2.5V ~ 5.5V.
• Supports 24 channels of 16-bit PWM output or capture input, the frequency can reach up to 100 MHz.
• Supports 6 groups of UARTs and can be used with 24 channels of PWM at the same time. The FIFO depth is 16 bytes.
• High-speed 12-bit ADC, up to 1 MSPS.
• Built-in 22.1184 MHz high-speed clock source with an accuracy of 1% (25 ℃, Vdd 5V).
• The LQFP64 package supports up to 56 GPIO pins.
• NuMicro has unique encryption and program protection to protect programs from being stolen.