A continuum robot arm morphology detection PCB assembly
By designing a continuous robotic arm morphology detection PCB assembly including ARM chip, nine-axis motion sensor and three-axis magnetometer, the problem that traditional sensors cannot adapt to the needs of continuous robotic arm is solved, and the form detection in different gravity environments is achieved Combined with dynamics models, the scope of application is expanded.
Patent Information
- Application Number
- CN202211008344.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-08-22
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2042-08-22
AI Technical Summary
Existing morphological detection sensors cannot meet the application needs of continuum robotic arms, especially in the absence of a shaft mechanism and difficulty in adapting to microgravity environments.
A continuous robotic arm morphology detection PCB assembly is designed, including ARM chip, nine-axis motion sensor, three-axis magnetometer, CAN transceiver, FRAM memory chip and voltage stabilization chip. It can collect three-axis acceleration through the CAN bus. , angular velocity and magnetic field intensity data, and output Euler attitude angle data in ground or space environment, which is suitable for morphological detection of continuum robotic arms.
The component is small in size and low in cost, and can measure angular velocity, acceleration and magnetic strength at the same time. It is suitable for ground and space environments, expands the application range, and realizes continuous morphological reconstruction of the robot arm through distributed installation.
Smart Images
Figure CN115420330B_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the field of robot state estimation, in particular to a continuum robot arm morphology detection PCB assembly. Background Art
[0002] At present, various robots have played a key role in many important areas of the national economy. When using robotic arms to complete tasks, joint-type rigid robotic arms are still the main ones. For some non-structural operating environments with narrow spaces and complex obstacles, traditional rigid robotic arms are large in size and low in dexterity, making it difficult to reach the designated operating position and thus unable to complete the operating task. However, the continuum robotic arm is slender, compact in structure, flexible in movement, has excellent environmental adaptability and extremely high obstacle avoidance capabilities, and is fully capable of passing through narrow areas to complete operating tasks.
[0003] As the structure of equipment becomes increasingly complex, traditional robots are unable to undertake maintenance and repair work inside the equipment. Therefore, the continuum manipulator can play a major role in key national science and technology strategic areas such as aviation equipment maintenance, nuclear power equipment inspection, and space on-orbit services, and has broad market prospects. In order to adapt to the special structure of the continuum manipulator and the computing power limitations of the terminal computing platform, the morphology detection system is required to adopt a lightweight, modular, and embedded design as much as possible. Since the continuum manipulator has no rotating shaft mechanism, the existing angle encoder cannot be applied. In addition, for the continuum manipulator in space orbit, the existing morphology detection system is difficult to adapt to the microgravity environment, so a morphology detection component that adapts to the continuum manipulator is required to solve the above problems. Summary of the invention
[0004] The purpose of the present invention is to provide a continuum robot arm morphology detection PCB assembly to solve the problem that the morphology detection sensor in the prior art cannot meet the application requirements of the continuum robot arm.
[0005] The technical solution to achieve the purpose of the present invention is:
[0006] A PCB assembly for detecting the shape of a continuum robot arm, wherein the PCB assembly is provided with an ARM chip, a nine-axis motion sensor, a three-axis magnetometer, a CAN transceiver, a FRAM storage chip, a voltage regulator chip, and a CAN bus main socket;
[0007] The ARM chip is connected to the nine-axis motion sensor, the three-axis magnetometer and the FRAM storage chip, and is connected to the CAN bus main socket via the CAN transceiver;
[0008] The device is used to collect the three-axis acceleration, three-axis angular velocity, and three-axis magnetic field strength of the continuum manipulator, and can output Euler attitude angle data under the ground gravity environment;
[0009] The three-axis magnetometer is used to collect the earth's magnetic field strength in the three-axis directions of the continuum manipulator;
[0010] The FRAM memory chip is used to store calibration parameters of the nine-axis motion sensor and the three-axis magnetometer;
[0011] The ARM core is used to send, receive and process the collected data of the nine-axis motion sensor and the three-axis magnetometer, run the morphology detection algorithm, and communicate with other continuum robot arm morphology detection PCB components;
[0012] The voltage stabilizing chip is used to power the ARM chip, the nine-axis motion sensor, the three-axis magnetometer, the CAN transceiver, and the FRAM storage chip.
[0013] Compared with the prior art, the present invention has the following significant advantages:
[0014] (1) The PCB assembly described in the present invention is of an annular notch design, which is very suitable for installation on the end face of a continuum robot arm node with a center rod. In addition, there are power supply / CAN bus sockets on the front and back of the PCB assembly, and the installation and connection method is relatively flexible.
[0015] (2) Since the continuum robot arm has no rotating shaft, the traditional encoder cannot be installed and used. The continuum robot arm shape detection PCB assembly of the present invention overcomes this problem. The entire PCB assembly is smaller in size, lower in cost, and can simultaneously measure angular velocity, acceleration, angular position, and magnetic intensity, providing richer measurement information.
[0016] (3) The continuum robot arm morphology detection PCB assembly of the present invention can be distributedly installed at multiple node positions of the continuum robot arm along the central rod, and can be interconnected through the CAN bus, and combined with the dynamic model of the continuum robot arm to realize the continuous morphology reconstruction of the entire robot arm.
[0017] (4) The continuum robot arm morphology detection PCB assembly of the present invention can be used in both ground gravity environment and space microgravity environment; it can be used in both continuum robot arms and traditional rigid robot arms, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 This is the three-dimensional structure diagram of the front side of the PCB component detected by the continuum robot arm.
[0019] Figure 2 The three-dimensional structure diagram of the back side of the PCB component detected by the continuum robot arm.
[0020] Figure 3 This is a block diagram of the PCB components for the continuum robot arm morphology detection.
[0021] Figure 4Schematic diagram of the continuum robot coordinate definition.
[0022] Figure 5 This is a schematic diagram of the installation of the PCB assembly for the continuum robot arm morphology detection.
[0023] Figure 6 This is the circuit connection diagram of the ARM chip of the continuum robot arm morphology detection PCB assembly.
[0024] Figure 7 This is the circuit connection diagram of the nine-axis motion sensor of the continuum robot arm form detection PCB assembly.
[0025] Figure 8 Circuit connection diagram of the three-axis magnetometer for the continuum robot arm morphology detection PCB assembly.
[0026] Fig. 9 This is the circuit connection diagram of the CAN transceiver of the continuum robot arm shape detection PCB assembly.
[0027] Fig.10 This is the circuit connection diagram of the FRAM memory chip of the continuum robot arm morphology detection PCB assembly.
[0028] Fig.11 This is the circuit connection diagram of the voltage regulator chip of the continuum robot arm morphology detection PCB assembly.
[0029] Fig.12 This is the circuit connection diagram of the SWD serial port debugging socket of the continuum robot arm morphology detection PCB assembly. DETAILED DESCRIPTION
[0030] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.
[0031] Combination Figure 1 In the present embodiment, a PCB assembly for detecting the shape of a continuous body robot arm is soldered on the front of the PCB assembly with an ARM chip 1, a nine-axis motion sensor 2, a three-axis magnetometer 3, a CAN transceiver 4, a FRAM storage chip 5, a voltage regulator chip 6, and a CAN bus main socket 7. The voltage regulator chip 6 is a TLV76733, which converts the +5V input voltage into a +3.3V output voltage to power the ARM chip 1, the nine-axis motion sensor 2, the three-axis magnetometer 3, the CAN transceiver 4, and the FRAM storage chip 5.
[0032] Combination Figure 1The ARM chip 1 is connected to the nine-axis motion sensor 2 through the asynchronous communication serial port UART; connected to the three-axis magnetometer 3 and the FRAM storage chip 5 through the synchronous serial interface SPI; connected to the CAN bus main socket 7 and the CAN bus spare socket 8 via the CAN transceiver 4, realizes CAN bus interconnection with other morphology detection PCB components, and communicates data with the upper control system. The ARM chip 1 is used to send, receive and process sensor acquisition data, and communicate with other continuum robot arm morphology detection PCB components.
[0033] The nine-axis motion sensor 2 includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, which can output three-axis acceleration, three-axis angular velocity, and three-axis magnetic field strength measurement data, and can output Euler attitude angle data through filtering and solving inside the motion sensor under a ground gravity environment.
[0034] The three-axis magnetometer 3 is used to measure the earth's magnetic field strength in three-axis directions, and its measurement accuracy is higher than that of the three-axis magnetometer integrated in the nine-axis motion sensor 2. The two constitute a redundant measurement method for the three-axis magnetic field strength. The three-axis magnetometer 3 is used first during operation. When its magnetic strength measurement fails, the magnetometer in the nine-axis motion sensor 2 as a backup is enabled.
[0035] The FRAM storage chip 5 is used to store calibration parameters of the nine-axis motion sensor 2 and the three-axis magnetometer 3. The stored parameters also include PCB component numbers and morphology detection algorithm parameters.
[0036] Combination Figure 1 The overall maximum height of the morphology detection PCB assembly is 10 mm, the diameter is 32 mm, the size is small, and it adopts a ring-shaped notch structure, which is easy to disassemble and assemble along the notch direction. There are two circular holes on both sides of the notch, which can be fixed to the end face of the continuum robot arm node with screws. The notch width is 10 mm, which can meet the size requirements of most continuum robot arm center rods.
[0037] The ARM chip 1 is STM32G431, which has a Cortex-M4 core, reads the data of each sensor through the asynchronous serial communication interface UART and the synchronous serial interface SPI, runs the morphology detection algorithm, and is interconnected with other modules through the CAN bus. The software of the morphology detection component can be tested and maintained through the SWD serial port debugging socket 9. The ARM chip 1 can also implement in-application programming IAP through the CAN bus, and regularly update the firmware of the morphology detection component.
[0038] The nine-axis motion sensor 2 is BNO055, which includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. It can measure three-axis acceleration, three-axis angular velocity, and three-axis magnetic field strength, and can calculate the attitude angle through the internal Kalman filter algorithm in a ground gravity environment.
[0039] The three-axis magnetometer 3 is HMC5983 with temperature compensation, capable of measuring the three-axis components of the earth's magnetic field, and the data refresh rate exceeds 200 Hz.
[0040] The CAN transceiver 4 is MAX3051, with an operating voltage of 3.3V, a maximum current consumption of 70mA, and a transmission rate of 1Mbps, meeting the low-power and high-speed CAN bus communication requirements.
[0041] The FRAM storage chip 5 is selected as FM25V02A, which uses a parallel data interface SPI to connect to the ARM chip 1, has a maximum storage capacity of 256K bits, and is used to store the calibration parameters of the nine-axis motion sensor 2 and the three-axis magnetometer 3, as well as the PCB component number and morphology detection parameters.
[0042] The output accuracy of the voltage regulator chip 6 in the entire temperature range is 1%, which is a precision linear voltage regulator device. The DC voltage input range is wide, 4.5V to 16V, and the output voltage is fixed at 3.3V. The voltage regulator chip 6 supplies power to the ARM chip 1, the nine-axis motion sensor 2, the three-axis magnetometer 3, the CAN transceiver 4, and the FRAM storage chip 5.
[0043] Combination Figure 1 and Figure 2 The front of the PCB shape detection component has a GH1.25mm-4P CAN bus main socket 7, which has both CAN bus connection function and DC voltage power supply function, and the back has a CAN bus spare socket 8 of the same specification. The PCB component is installed on the end face of the continuum robot arm node position, and the user can flexibly choose the front or back CAN bus socket for connection.
[0044] Combination Figure 2 The back of the PCB assembly is soldered with a CAN bus spare socket 8 and a SWD program debugging socket 9.
[0045] The CAN bus main socket 7 adopts a GH1.25mm-4P patch socket, which has both CAN bus communication function and DC power supply function. The back is a CAN bus spare socket 8 of the same specification. The PCB assembly is installed on the end face of the continuum robot arm node position, and the user can flexibly choose the front or back CAN bus socket for connection.
[0046] The SWD serial port debugging socket 9 is used for program testing and maintenance, and also adopts a GH1.25mm-4P specification chip socket.
[0047] Combination Figure 3The continuum robot arm morphology detection PCB assembly includes an ARM chip 1, a nine-axis motion sensor 2, a three-axis magnetometer 3, a CAN transceiver 4, a FRAM storage chip 5, a voltage conversion chip 6, CAN data communication sockets 7 and 8, and a SWD program debugging socket 9.
[0048] Combination Figure 4 The reference coordinate system is defined as follows: select the plane of the fixed base of the continuum robot set as the reference plane, the center of the center rod on the base reference plane as the origin, define the x-axis along the tangent extension direction of the center rod, define the y-axis horizontally to the right when looking forward from the rear of the fixed base, and define the z-axis according to the right-hand rule. In the same way, the coordinate system can be defined at the position of the continuum robot morphology detection node. The lateral rotation angle of the coordinate system at the node relative to the coordinate system at the base is defined as the yaw angle ψ, and the rotation angle in the vertical direction is defined as the pitch angle θ.
[0049] The ARM chip 1 is STM32G431, which has a Cortex-M4 core, reads each sensor data through an asynchronous serial communication interface UART and a synchronous serial interface SPI, runs a morphology detection algorithm, and is interconnected with other modules through a CAN bus. The software of the morphology detection component can be tested and maintained through the SWD serial port debugging socket 9. The ARM chip 1 can also implement in-application programming IAP through the CAN bus, and regularly update the firmware of the morphology detection component.
[0050] The attitude output of the nine-axis motion sensor 2 depends on the plumb bob direction of gravity acceleration under the ground gravity environment. When the continuum manipulator works in the microgravity environment of the space orbit, the sensor cannot work normally. The attitude angle can be solved by measuring information of the three-axis magnetometer 3 or the three-axis magnetometer integrated in the nine-axis motion sensor 2. The node shape of the continuum manipulator is described by the pitch angle θ and the yaw angle ψ. The pitch angle measurement range is [-90°90°], and the solution equation is:
[0051]
[0052] The yaw angle measurement range is [-90° 90°], and the solution equation is:
[0053]
[0054] H x , H y , H z are the x-axis, y-axis, and z-axis magnetic field intensity components of the reference coordinate system, H bx , H bz , H byThe x-axis, y-axis, and z-axis magnetic field strength measurements of the PCB assembly are used for form detection. The above equation has two solutions. When solving, unreasonable solutions can be eliminated based on the range of pitch angle and change angle and the motion characteristics of the continuum robot arm, and reasonable solutions can be retained.
[0055] Combination Figure 5 The distributed installation method of the morphology detection PCB assembly is as follows: select multiple node positions to be detected on the continuum robot arm, install the morphology detection PCB assembly on the node end face of the continuum robot arm along the notch direction, and fix it with screws. Each morphology detection PCB assembly is connected in series through the CAN bus socket, and data communication is carried out while ensuring the power supply connection, so as to realize the morphology detection requirements of the entire continuum robot arm.
[0056] Combination Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.12 In order to realize the function of the continuous body robot arm morphology detection, the PA1 port of the ARM chip 1 is connected to the INT port of the nine-axis motion sensor 2, the PA2 port is connected to the COM1 port of the nine-axis motion sensor 2, the PA3 port is connected to the COM0 port of the nine-axis motion sensor 2, the PA4 port is connected to the SPI_CS port of the three-axis magnetometer 3, the PA5 port is connected to the SCL / SPI_SCK port of the three-axis magnetometer 3, the PA6 port is connected to the SPI_SDO port of the three-axis magnetometer 3, the PA7 port is connected to the SDA / SPI_SDI port of the three-axis magnetometer 3, and the PA11 port is connected to the CAN transceiver. 4 is connected to the RXD port of CAN transceiver 4, PA12 port is connected to the TXD port of CAN transceiver 4, PA13 port is connected to port 2 of SWD program debugging socket 9, PA14 port is connected to port 3 of SWD program debugging socket 9, PA15 port is connected to the CS port of FRAM memory chip 5, PB0 port is connected to the INT port of three-axis magnetometer 3, PB3 port is connected to the SCK port of FRAM memory chip 5, PB4 port is connected to the SO port of FRAM memory chip 5, PB5 port is connected to the SI port of FRAM memory chip 5, PB8_BOOT0 port is connected to the first resistor R1 (10K ohm), and PG10_NRST port is connected to the third capacitor C3 (0.1μF).
[0057] Combination Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12, in order to realize voltage conversion and voltage stabilization power supply for each module of the continuum robot arm morphology detection PCB assembly, the IN port and EN port of the voltage stabilization chip 6 are connected to the seventh capacitor C7 (0.1μF) and the ninth capacitor C9 (10μF) in parallel, and one end of the parallel capacitor is connected to a 5V voltage and the other end is grounded; the OUT port is connected to the fourteenth capacitor C14 (10μF) and the thirteenth capacitor C13 (0.1μF) in parallel, and the other end of the parallel capacitor is grounded, the OUT port outputs a 3.3V voltage and is connected to the SNS port; the GND port and the Thermal_Pad port are grounded;
[0058] The OUT port of the voltage regulator chip 6 is connected to the VDD_1, VDD_2, and VDDA ports of the ARM chip 1; the VSS_1 and VSS_2 ports of the ARM chip 1 are grounded, the VDDA port is connected to the second capacitor C2 (0.1 μF) and the sixth capacitor C6 (1 μF) connected in parallel, and the other end is connected to the VSSA port and grounded;
[0059] The OUT port of the voltage regulator chip 6 is connected to the VDD port, VDDIO port, PS1 port, and BOOTLOADPIN port of the nine-axis motion sensor 2; the VDD port of the nine-axis motion sensor 2 is connected to the fifth capacitor C5 (0.1μF), the VDDIO port is connected to the tenth capacitor C10 (6.8nF), the eleventh capacitor C11 (120nF), and the fifth resistor R5 (10Kohm) of the RESET port in parallel, and then connected to a 3.3V voltage, the BOOTLOADPIN port is connected to the fourth resistor R4 (10K ohm), the CAP port is connected to the eighth capacitor C8 (1μF), the other end is grounded, the PS0 port is grounded, the COM2 and COM3 ports are grounded, and the GND port and the GNDIO port are grounded;
[0060] The OUT port of the voltage regulator chip 6 is connected to the VDD port and the VDDIO port of the three-axis magnetometer 3; the VDD port of the three-axis magnetometer 3 is connected to the sixteenth capacitor C16 (1 μF), and the other end is grounded; the VDDIO port is connected to the twelfth capacitor C12 (0.1 μF), and the other end is grounded; the GND_1 port and the GND_2 port are grounded; the CAP port is connected to the fifteenth capacitor C15 (10 μF), and the other end is grounded;
[0061] The OUT port of the voltage regulator chip 6 is connected to the VCC port of the CAN transceiver 4; the VCC port of the CAN transceiver 4 is connected to the fourth capacitor C4 (0.1 μF), the other end is connected to the SHDN port and the RS port and grounded, the GND port is grounded, the second resistor R2 (120 ohm) is connected between the CANH port and the CANL port, the other end is connected to the No. 2 and No. 3 ports of the connectors JP1 and JP2, the No. 1 port of the connectors JP1 and JP2 is connected to a 5V voltage, and the No. 4 port is grounded;
[0062] The OUT port of the voltage regulator chip 6 is connected to the VDD port, WP port, and HOLD port of the FRAM memory chip 5; the VDD port of the FRAM memory chip 5 is connected to the first capacitor C1 (0.1 μF), the other end is grounded, and the VSS port is grounded;
[0063] The OUT port of the voltage regulator chip 6 is connected to the port No. 1 of the SWD program debugging socket 9; and the port No. 4 of the SWD program debugging socket 9 is grounded.
[0064] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.
Claims
1. A continuum robot arm morphology detection PCB assembly, characterized in that: The PCB assembly is provided with an ARM chip, a nine-axis motion sensor, a three-axis magnetometer, a CAN transceiver, a FRAM storage chip, a voltage regulator chip, and a CAN bus main socket; The ARM chip is connected to the nine-axis motion sensor, the three-axis magnetometer and the FRAM storage chip, and is connected to the CAN bus main socket via the CAN transceiver; The nine-axis motion sensor is used to collect the three-axis acceleration, three-axis angular velocity, and three-axis magnetic field strength of the continuum manipulator, and can output Euler attitude angle data under the ground gravity environment; The three-axis magnetometer is used to collect the earth's magnetic field strength in the three-axis directions of the continuum manipulator; The FRAM memory chip is used to store calibration parameters of the nine-axis motion sensor and the three-axis magnetometer; The ARM chip is used to send, receive and process the collected data of the nine-axis motion sensor and the three-axis magnetometer, run the morphology detection algorithm, and communicate with other continuum robot arm morphology detection PCB components; The voltage stabilizing chip is used to power the ARM chip, the nine-axis motion sensor, the three-axis magnetometer, the CAN transceiver, and the FRAM storage chip; The attitude output of the nine-axis motion sensor depends on the plumb bob direction of gravity acceleration in the ground gravity environment. When the continuum manipulator works in the microgravity environment of the space orbit, the attitude angle is calculated by measuring information of the three-axis magnetometer or the three-axis magnetometer integrated in the nine-axis motion sensor. The node shape of the continuum manipulator is described by the pitch angle θ and the yaw angle ψ. The solution equation is: Among them, H x , H y , H z are the x-axis, y-axis, and z-axis magnetic field intensity components of the reference coordinate system, H bx , H bz , H by The x-axis, y-axis, and z-axis magnetic field strength measurements of PCB components for morphological detection; The PCB assembly adopts an annular notch structure and is used for being installed on the end surface of a continuum mechanical arm with a center rod.
2. The continuum robot arm morphology detection PCB assembly according to claim 1, characterized in that: The PA1 port of the ARM chip is connected to the INT port of the nine-axis motion sensor, the PA2 port is connected to the COM1 port of the nine-axis motion sensor, the PA3 port is connected to the COM0 port of the nine-axis motion sensor, the PA4 port is connected to the SPI_CS port of the three-axis magnetometer, the PA5 port is connected to the SCL / SPI_SCK port of the three-axis magnetometer, the PA6 port is connected to the SPI_SDO port of the three-axis magnetometer, the PA7 port is connected to the SDA / SPI_SDI port of the three-axis magnetometer, the PA11 port is connected to the RXD port of the CAN transceiver, and the PA12 port is connected to the CAN The TXD port of the transceiver is connected, the PA13 port is connected to port 2 of the SWD program debugging socket, the PA14 port is connected to port 3 of the SWD program debugging socket, the PA15 port is connected to the CS port of the FRAM memory chip, the PB0 port is connected to the INT port of the three-axis magnetometer, the PB3 port is connected to the SCK port of the FRAM memory chip, the PB4 port is connected to the SO port of the FRAM memory chip, the PB5 port is connected to the SI port of the FRAM memory chip, the PB8_BOOT0 port is connected to the first resistor R1, and the PG10_NRST port is connected to the third capacitor C3.
3. The continuum robot arm morphology detection PCB assembly according to claim 1, characterized in that: The IN port and EN port of the voltage stabilizing chip are connected to the seventh capacitor C7 and the ninth capacitor C9 in parallel, and one end of the parallel capacitor is connected to a 5V voltage, and the other end is grounded; the OUT port of the voltage stabilizing chip is connected to the fourteenth capacitor C14 and the thirteenth capacitor C13 in parallel, and the other end of the parallel capacitor is grounded, the OUT port outputs a 3.3V voltage and is connected to the SNS port; the GND port and the Thermal_Pad port are grounded; The OUT port of the voltage regulator chip is connected to the VDD_1, VDD_2, and VDDA ports of the ARM chip; the VSS_1 and VSS_2 ports of the ARM chip are grounded, the VDDA port is connected to the second capacitor C2 and the sixth capacitor C6 in parallel, and the other end is connected to the VSSA port and grounded; The OUT port of the voltage regulator chip is connected to the VDD port, VDDIO port, PS1 port, and BOOTLOADPIN port of the nine-axis motion sensor; the VDD port of the nine-axis motion sensor is connected to the fifth capacitor C5, the VDDIO port is connected to the tenth capacitor C10, the eleventh capacitor C11, and the fifth resistor R5 of the RESET port in parallel, and then connected to a 3.3V voltage, the BOOTLOADPIN port is connected to the fourth resistor R4, the CAP port is connected to the eighth capacitor C8, the other end is grounded, the PS0 port is grounded, the COM2 and COM3 ports are grounded, and the GND port and the GNDIO port are grounded; The OUT port of the voltage regulator chip is connected to the VDD port and the VDDIO port of the three-axis magnetometer; the VDD port of the three-axis magnetometer is connected to the sixteenth capacitor C16, and the other end is grounded; the VDDIO port is connected to the twelfth capacitor C12, and the other end is grounded; the GND_1 port and the GND_2 port are grounded; the CAP port is connected to the fifteenth capacitor C15, and the other end is grounded; The OUT port of the voltage regulator chip is connected to the VCC port of the CAN transceiver; the VCC port of the CAN transceiver is connected to the fourth capacitor C4, the other end of which is connected to the SHDN port and the RS port and grounded, the GND port is grounded, the second resistor R2 is connected between the CANH port and the CANL port, the other end of which is connected to the No. 2 and No. 3 ports of the connectors JP1 and JP2, the No. 1 port of the connectors JP1 and JP2 is connected to a 5V voltage, and the No. 4 port is grounded; The OUT port of the voltage regulator chip is connected to the VDD port, WP port, and HOLD port of the FRAM memory chip; the VDD port of the FRAM memory chip is connected to the first capacitor C1, the other end is grounded, and the VSS port is grounded; The OUT port of the voltage regulator chip is connected to port 1 of the SWD program debugging socket; port 4 of the SWD program debugging socket is grounded.
4. The continuum robot arm morphology detection PCB assembly according to claim 1, characterized in that: There is a CAN bus spare socket on the back, and the ARM chip is connected to the CAN bus spare socket via a CAN transceiver.
5. The continuum robot arm morphology detection PCB assembly according to claim 1, characterized in that: The DC voltage input range of the voltage stabilizing chip is 4.5V to 16V, the output voltage is fixed at 3.3V, and the output accuracy is 1%.
6. The continuum robot arm morphology detection PCB assembly according to claim 1, characterized in that: The CAN transceiver is MAX3051, with an operating voltage of 3.3V, a maximum current consumption of 70mA, and a transmission rate of 1Mbps.
7. The continuum robot arm morphology detection PCB assembly according to claim 1, characterized in that: The FRAM memory chip is FM25V02A, which uses a parallel data interface SPI to connect to the ARM chip, and has a maximum storage capacity of 256K bits.
8. The continuum robot arm morphology detection PCB assembly according to claim 1, characterized in that: Equipped with SWD serial port debugging socket for program testing and maintenance.