A robot gripper is an essential component for robotic projects that involve handling objects or performing tasks requiring a firm grip. In this tutorial, we will show you how to set up and operate a robot gripper using a DS3225 servo motor and an Arduino Mega. We will use the M97 G-code command in GRBL to control the servo smoothly from its current position to a new position.
1. Arduino Mega
2. DS3225 servo motor
3. Jumper wires
4. Robot gripper printed parts
Step 1: Wiring the DS3225 Servo Motor to Arduino Mega
Before connecting the DS3225 servo motor to the Arduino Mega, ensure both the Arduino and the servo are powered off. Follow these steps to connect the servo to the Arduino:
1. Locate the three pins on the DS3225 servo: ground (GND), power (VCC), and control signal (SIG).
2. Connect the GND pin of the servo to any GND pin on the Arduino Mega.
3. Connect the VCC pin of the servo to the 5V pin on the Arduino Mega to power the servo (double-check your servo’s voltage requirements).
4. Connect the SIG pin of the servo to one of the available PWM-enabled pins on the Arduino Mega. In this example, we will use Pin 11 for the signal wire.
Step 2: Operating the Robot Gripper with M97 Command
Now that everything is set up, you can use the M97 G-code command to control your robot gripper. The syntax for the M97 command is as follows: “M97 An Bn Cn Dn Wn Xn Yn Zn Ts” Where A, B, C, D, E, W, X, Y, and Z represent the corresponding servos, n is the servo position, and T is the time of the move in seconds.For example, if your servo is connected to Pin 11, and you want to move it to the fully open position (assuming that is the fully closed position of your gripper) over 0.1 seconds, you would use the following command: “M97 B120 T0.1” This command will make the servo smoothly move from its current position to the new fully open position over 0.1 seconds.
An Bn Cn Dn Wn Xn Yn Zn range calculation:
The value has range from 0-499, so to control the angle of the servo from 0 to 360 you should take the proportion into the account. So for each 1* angle value should be 499/360 = 1.38
T is the time needed to complete the operation in seconds.
By following the steps outlined in this tutorial, you can easily set up and operate a robot gripper using a DS3225 servo motor and an Arduino Mega. The M97 G-code command allows you to control the servo smoothly and precisely, enabling your robot to perform various gripping tasks with accuracy and efficiency. Experiment with different positions and timings to optimize your robot’s gripping capabilities for your specific application.