<<<<<<< HEAD

用户须知

本章节是使用本产品的每一位用户必须仔细阅读的重要部分。它涵盖了关于产品使用、运输、储存及维护的关键须知，旨在确保用户在操作产品时的安全性和效率。此外，本章节也详细说明了因未遵循这些指南而可能导致的产品故障或损害的责任划分。

1 安全须知

概要

本章详细介绍了对大象机器人进行安装、维护和修理工作的人员的一般安全信息。在搬运、安装、使用前，请仔细阅读并理解本章内容及注意事项。

危险识别

协作机器人的安全性基于机器人的正确配置和使用。此外，即使遵守了所有安全说明，操作员也可能会造成伤害或损坏。因此，了解机器人使用的安全风险以预防它们非常重要。

表1-1至表3列出了机器人使用过程中可能出现的常见安全风险：

1 因机器人操作不当造成的人身伤害或机器人损坏。
2 如果机器人没有按照要求固定，例如螺丝缺失或螺丝不紧，或者底座的锁定能力不足以支撑机器人高速移动，机器人就会翻倒，导致人身伤害或机器人损坏。
3 由于安全功能配置不正确或缺乏安全防护工具，导致机器人安全功能未能发挥作用。

1 调试程序时，不要停留在机器人的运动范围内。安全配置不当可能无法避免碰撞，造成人身伤害。
2 机器人与其他设备之间的连接可能会带来新的危险，需要进行全面的风险评估。
3 小心工作环境中的其他设备或机器人末端执行器等尖锐表面造成的划伤和刺伤。
4 机器人是精密机器；踩到它们可能会造成损坏。运输过程中放置​​不当可能会导致振动，影响内部零件并造成损坏。因此，请确保在所有情况下的稳定性和机械结构完整性。
5 如果在机器人断电前（夹紧不牢固时）未移除被夹物，可能会导致末端执行器损坏或被夹物因断电而掉落受伤等危险。
6 存在机器人意外移动的风险。在任何情况下都不要站在机器人的任何轴下！
7 与普通机械设备相比，机器人具有更多的自由度和更大的运动范围。未能保持在运动范围内可能会导致意外碰撞。

1 使用非原装电缆可能会产生未知的危险。
2 电气设备接触液体可能引起漏电危险。
3 电气连接错误可能会导致触电。
4 更换前请务必关闭控制器及相关设备的电源并拔下电源插头。如果带电进行操作，可能会导致触电或故障。

安全注意事项

使用机械手时应遵守以下安全规则：

• 机械臂属于带电设备。非专业人员不得随意改变电路，否则可能对设备或人体造成损害。
• 操作机械臂时，请遵守当地法律法规。本手册中描述的安全注意事项和危险、警告和注意事项仅是对当地安全法规的补充。
• 请在规定的环境下使用机械臂。超过机械臂的规格和负载条件会缩短产品的使用寿命，甚至损坏设备。
• 无论如何，安装、操作和维护 mercury 手臂的人员必须接受有关安全预防措施以及操作和维护机器人的正确方法的严格培训。
• 无论如何，请勿在潮湿环境中长时间使用本产品。本产品为精密电子元件，长期处于潮湿环境中会损坏设备。
• 无论如何，请勿在潮湿环境中长时间使用本产品。本产品为精密电子元件，长期处于潮湿环境中会损坏设备。
• 高腐蚀性清洁不适合清洁机械臂，阳极氧化部件不适合浸泡清洁。
• 不知不觉中，请勿在未安装底座的情况下使用设备，以免损坏设备或发生事故，应在没有障碍物的固定环境中使用设备。
• 请勿使用其他电源适配器供电。如果因使用非标准适配器而导致设备损坏，则不包含售后服务。
• 请勿拆卸、拆解或拧开机械手的螺钉或外壳。若自行拆卸，则不提供保修服务。
• 未经专业培训的人员不得擅自修理故障产品和拆卸机械臂。如果产品出现故障，请及时联系mercury技术支持工程师。
• 如果产品被丢弃，请遵守相关法律，妥善处理工业废物，保护环境。
• 孩子在某个时刻使用设备，迫使某人监视该过程并在完成后将其关闭。
• 机器人运动时，请勿将手伸入机器人手臂的运动范围内，以免发生碰撞。
• 严禁更改、拆除或修改机械手及相关设备的铭牌、说明、图标和标志。

• 请小心搬运和安装。按照包装箱上的说明轻轻放好机器人，并按照箭头方向正确放置。否则，机器可能会损坏。

• 请勿从 Atom 终端刻录其他产品驱动程序，或使用非官方建议刻录固件。如果因用户烧录其他固件而导致设备损坏，则不属于售后服务范围。

• 电源规格：使用官方电源
• USB Type-C 使用规范：不要连接到电源板

如果您对本手册内容有任何疑问或建议，请登录大象机器人官方网站并提交相关信息：

https://www.elephantrobotics.com

请不要将机械臂用于以下用途：

• 生命攸关的应用中的医疗保健成本。
• 购买公共汽车可能会导致环境爆炸。
• 四旬斋直接使用，无需进行风险评估。
• 使用低级别安全功能的成本。
• Lo-fi不符合机器人使用性能参数。

免责声明

请在使用产品前仔细阅读并理解以下免责声明：

• 安全使用： 本产品专为特定应用场景而设计。确保在使用过程中遵循所有安全准则和操作手册。用户应接受有关产品使用的适当培训，并了解并遵守所有相关的安全法规。

• 责任限制： 对于因使用或误用产品或与产品相关的任何事项而导致的任何直接、间接、偶然、特殊或后果性损害，制造商概不负责。本免责声明不涵盖或排除法律不允许排除的责任。

• 技术支持： 请在安装和使用过程中仔细阅读产品文档，必要时寻求制造商的技术支持。有关技术支持问题，请参阅厂家提供的官方文档或联系相关支持渠道。

• 软件更新： 制造商可能会提供产品固件或软件的更新。用户应定期检查并应用这些更新，以确保产品性能和安全性。

• 定期维护： 用户应按照制造商提供的定期维护指南检查和维护产品。定期维护和检查有助于确保产品的长期性能。

• 定制和修改： 未经制造商明确许可，不得定制、修改或变更产品。任何未经授权的修改都可能导致产品保修失效，并可能对安全和性能产生不可预测的影响。

• 法律合规性： 用户应确保其使用符合所有适用的法律和法规。在某些地区，产品的使用可能受到特定法规的限制。

使用水星B1双臂人形机器人，即表示您同意并接受这些免责声明。制造商保留更改产品规格、功能和免责声明的权利，恕不另行通知。

2 运输与保存

物流运输要求

2 设备储藏

3 维护和保养

  作为一家机器人制造商，我们重视确保客户能够正确、安全地维护和升级他们的机器人设备。为此，我们提供以下详细的维护和保养指南，包括常见维护项目及维修或升级硬件的部分，请您认真阅读。

常见维护项目及推荐周期

独立更改机器人硬件的指南

  我们理解客户可能会有自行升级或维修机器人硬件的需求。在进行任何升级操作之前，请务必详细阅读产品的相关参数，并与我们的官方人员确认是否被允许进行此类操作。未经官方允许的操作可能导致产品故障，且不在保修范围内。

物料要求

  官方制造或推荐的物料：所有维修和升级所需的配件和组件必须是由我们官方制造或明确推荐的。这包括但不限于电子组件、传感器、电机、连接件和任何其他可更换部件。
  物料获取：客户可通过我们的官方渠道购买所需的维修和升级物料。这确保了配件的质量和兼容性。

维修或升级流程

  客户自行维修：客户应负责完成维修工作。我们将提供详细的维修指导和手册，以指导客户完成维修步骤。
  遵循官方指导：维修操作应严格遵循我们提供的官方指导。任何偏离官方指导的操作都可能导致设备损坏。

责任和保修政策

责任划分：

  制造商：提供维修和升级的官方指导、官方制造或推荐的物料，并处理由制造缺陷导致的问题。
  客户：负责按照官方指导完成维修，使用官方配件。

保修政策：

  保修有效：只有当维修操作完全遵循我们的指导，且使用官方配件时，保修才有效。
  保修无效：若客户未按官方指导操作，或使用非官方配件进行维修或升级，导致的任何损坏都将不在保修范围内。

注意事项

  安全第一：在进行任何维修或升级操作前，请确保遵循所有安全指南，包括断电和使用适当的防护装备。
  技术支持：如在维修过程中遇到问题，建议停止操作并联系我们的技术支持团队寻求帮助。
  我们强烈建议客户严格遵循这些指南，以确保机器人设备的安全、有效运行。不当的维修操作可能导致设备损坏并影响保修状态。如需进一步的指导或支持，请及时联系我们的专业技术团队。

4 常见问题

如何优雅地提问

1 在各地提问时，你会发现几种现象：

• 提问后没有得到答复。
• 提的问题过了很久才用人回答。
• 对方老是嫌弃自己太菜。

2 在提问之前，请确保已经研究过该手册。

很多问题会在这个过程中解决，切忌一开始就到 QQ 群、论坛 、issue， 或者邮件随便提问，很多在文档中一开始就说明了的问题可能不会得到社区的及时的回答，节省大家的时间，也为了更好的社区环境，大家共同更好地成长，请互相理解。

3 提问时，尽量做到以下几点，这将大大增加快速解决问题的机会：

要弄清楚发生了什么事，我做了什么，包括：

• 我想实现什么样的效果、什么功能？

• 为了达到这种效果，我是怎么做的，具体过程是怎样的？

• 在实施过程中，出现了什么错误，有什么现象（例如，报告的错误是什么，完整的错误内容是什么？）

• 我是否认真看了报错信息，报错信息中是否提示了错误原因和解决方法？

• 根据这些错误信息，仔细想想，我能解决问题吗？

• 搜索文档、issue，以及用搜索引擎能不能搜索到问题的解决方法?

4 如果自己实在解决不了问题，需要请人帮忙，需要考虑：

• 请教谁，在哪里请教，谁会更有几率回答我的问题？以及实时性如何？

• 我应该给他提供什么数据和现象他才能愿意快速帮我解决问题？

  • 提供我的目的（方便让回答者知道你在做什么事情）
  • 提供完整的实施过程，以及过程中出现的现象（方便回答者跟着你的流程去做一遍，即问题复现）
  • 给出错误的地方，指明哪里出现的现象或结果和自己预期的不一样！（让回答者知道，哪里没达到预期）
  • 提供出现的错误信息，需要完整，尽可能更多地截图，更多的日志，千万别小气地截一张小图，或者之给出日志的一部分（因为回答者可能很久没做这件事情了，忘记了一些细节，需要靠截图和完整日志来快速回忆起来;而且根据详细的日志可以快速定位到问题处在哪里）

• 怎么提问态度显得比较诚恳，就算我再小白，大家也愿意回答

5 提问模板

提问尽量做到提问优雅，不需要添加多余的语气词，抱怨的词汇，斟酌每一个词和标点符号，站在回答人的角度思考问题，如何让回答的人快速帮助自己解决问题，字数太少描述不清楚，字数太多则让人没有耐心。

6 标题

无论在哪里提问（包括 QQ 群），给自己的问题拟定一个 30 个字左右标题，阐明问题的中心思想，包括：

• 问题类别，是问题请教，还是 BUG 提交，还是经验分享等等。让大家在满是文字的屏幕上可以立马定位到你想做什么
• 一句话阐明问题的中心你思想，比如 运行摄像头示例程序，报错 reset fail，可能是硬件问题

所以综合后标题可以是这样：

• 【mercury 提问】 运行摄像头示例程序，报错 reset fail，可能是硬件问题吗

这样的标题尽量不要出现:

• 啊啊啊啊啊为什么我的板子又不行了
• 为什么我的代码不能运行了
• 为什么我的屏幕黑屏了
• 【mercury 提问】 收到了开发板，开发板屏幕是红的，一行小字，为什么呢
• 我运行xxx程序，出了问题

可以这样问：

• 【mercury 提问】 我的板子在我接反电源后，现在板子无法启动，怎么判断板子哪里烧毁了，如果可以，怎么救活呢

7 内容

首先站在回答者的角度，如果被问问题:

• 首先要知道对方要做什么，实现什么目标
• 为了实现这个目标，他是参考了哪里的步骤做的
• 实际上采用了哪些具体的步骤，然后在那一步出现了问题，方便我照着他的步骤去尝试复现一下现象。如果这个问题看起来不好解决，又没有复现的步骤，那可能要花很多时间去复现，先放一放先解决其它问题吧
• 具体出现的问题是什么，如果他只说出了问题，我怎么知道他出了什么问题，也许是身体不适？所以这很重要，需要让他说明出问题时的现象，并指明与预期有什么不同，不然我还得去猜去对比和预期有什么不同，解决问题的时长又增加了
• 出问题了，我可能需要他的日志文件，方便我根据日志去看源码等进行分析，不然可能会很难解决问题，那这个问题可以放到后面慢慢看吧

综上，可以这么提问：

• 详细阐明自己的目标，想做什么事情，现象应该是什么样的
• 我有没有参考哪里的文档、代码或者教学
• 如何复现错误：具体怎么做的，每一个步骤写详细，直到问题出现
• 详细阐述错误出现时的现象，以及和期望的相比哪里不一样，需要证明问题确实出现了
• 附带日志文件，以及截图，甚至是视频，日志和截图一定要完整，不要只截取一小部分，回答者可能会从你的完整日志和截图中发现一些你没注意到的问题，这很重要
• 另外，粘贴代码注意格式，别粘贴后显示很乱，无法入目，尽量能复制后直接能运行
• 最后，对解答问题的社区朋友们表达感谢

驱动器相关

1 关于python

问： send_base_coords（[x，y，z，rx，ry，rz]， speed） 此 API 中的参数是什么意思？rx、ry 和 rz 对应于欧拉角什么？欧拉角的旋转顺序是什么？每个参数的取值范围是多少？

• 答：前面数组中的参数是 mercury B1 末端的坐标，speed 是速度。rx、ry 和 rz 应对应 RPY，即分别对应滚动、俯仰和偏航。欧拉角的阶数是 zyx，zyx 是它自己的坐标。x、y、z的取值范围。为-350~350，-350~350，-41~523.9（取值范围未定义，如果超过该范围，将返回逆运动学无解提示），rx、ry、rz的取值范围为-180~180。

问：不同版本的机械臂的 python api 是否相同？

• 答：API 是一样的。

2 关于ROS

问：您能提供 rviz 模型的文件和编程示例吗？

• 答：它可以在我们的 github 上找到。 “https://github.com/elephantrobotics/mercury_ros”

问：为什么使用 ROS 启动 rviz 模型文件时，报错权限“/dev/ttyUSB0”？

• 答：这是因为没有给出串口权限。您应该在终端中键入 sudo chmod 777 端口名称。

  例如：

  User Notes

This chapter is an important part that every user of this product must read carefully. It covers key information about product usage, transportation, storage, and maintenance, aiming to ensure user safety and efficiency when operating the product. Additionally, this chapter details the responsibilities for product failures or damages caused by not following these guidelines.

1 Safety Instructions

Overview

This chapter provides general safety information for personnel involved in the installation, maintenance, and repair of the Elephant Robot. Please read and understand the contents and precautions of this chapter before handling, installing, or using the product.

Hazard Identification

The safety of collaborative robots is based on the correct configuration and use of the robot. Additionally, even if all safety instructions are followed, operators may still cause injury or damage. Therefore, it is very important to understand the safety risks of using the robot to prevent them.

Tables 1-1 to 1-3 list common safety risks that may occur during the use of the robot:

1 Personal injury or robot damage caused by improper robot operation.
2 If the robot is not fixed as required, such as missing screws or loose screws, or the base's locking ability is insufficient to support the robot's high-speed movement, the robot will tip over, causing personal injury or robot damage.
3 The robot's safety functions fail to work due to incorrect safety function configuration or lack of safety protection tools.

1 Do not stay within the robot's movement range when debugging programs. Improper safety configuration may not avoid collisions, causing personal injury.
2 The connection between the robot and other equipment may bring new dangers, requiring a comprehensive risk assessment.
3 Be careful of scratches and punctures caused by sharp surfaces such as other equipment or the robot's end effector in the working environment.
4 The robot is a precision machine; stepping on it may cause damage. Improper placement during transportation may cause vibration, affecting internal parts and causing damage. Therefore, ensure stability and mechanical structure integrity in all cases.
5 If the clamped object is not removed before the robot is powered off (when the clamping is not secure), it may cause damage to the end effector or injury due to the object falling off when powered off.
6 There is a risk of accidental robot movement. Do not stand under any axis of the robot under any circumstances!
7 Compared to ordinary mechanical equipment, robots have more degrees of freedom and a larger range of motion. Failure to stay within the range of motion may cause accidental collisions.

1 Using non-original cables may pose unknown dangers.
2 Electrical equipment coming into contact with liquids may cause leakage hazards.
3 Incorrect electrical connections may cause electric shock.
4 Be sure to turn off the power of the controller and related equipment and unplug the power plug before replacement. Operating with power on may cause electric shock or malfunction.

Safety Precautions

Follow these safety rules when using the robotic arm:

• The robotic arm is an electrical device. Non-professionals should not change the circuit at will, otherwise, it may cause damage to the equipment or the human body.
• When operating the robotic arm, follow local laws and regulations. The safety precautions and dangers, warnings, and cautions described in this manual are only supplements to local safety regulations.
• Use the robotic arm in the specified environment. Exceeding the specifications and load conditions of the robotic arm will shorten the product's lifespan and even damage the equipment.
• Personnel installing, operating, and maintaining the Mercury arm must receive strict training on safety precautions and the correct methods of operating and maintaining the robot.
• Do not use this product in a humid environment for a long time. This product is a precision electronic component, and long-term exposure to a humid environment will damage the equipment.
• Do not use this product in a humid environment for a long time. This product is a precision electronic component, and long-term exposure to a humid environment will damage the equipment.
• High-corrosion cleaning is not suitable for cleaning the robotic arm, and anodized parts are not suitable for soaking cleaning.
• Do not use the equipment without installing the base to avoid damage or accidents. Use the equipment in a fixed environment without obstacles.
• Do not use other power adapters for power supply. If the equipment is damaged due to the use of non-standard adapters, it is not covered by after-sales service.
• Do not disassemble, dismantle, or unscrew the screws or casing of the robotic arm. If disassembled by yourself, warranty service is not provided.
• Untrained personnel should not repair faulty products or disassemble the robotic arm without authorization. If the product fails, contact Mercury technical support engineers in time.
• If the product is discarded, comply with relevant laws and properly dispose of industrial waste to protect the environment.
• Children should use the equipment under supervision and turn it off after use.
• Do not reach into the movement range of the robot arm when the robot is moving to avoid collisions.
• It is strictly forbidden to change, remove, or modify the nameplate, instructions, icons, and signs of the robotic arm and related equipment.

• Handle and install carefully. Place the robot gently according to the instructions on the packaging box and place it correctly according to the arrow direction. Otherwise, the machine may be damaged.

• Do not burn other product drivers from the Atom terminal or use non-officially recommended firmware. If the equipment is damaged due to the user burning other firmware, it is not covered by after-sales service.

• Power specifications: Use official power supply
• USB Type-C usage specifications: Do not connect to the power board

If you have any questions or suggestions about the content of this manual, please log in to the Elephant Robotics official website and submit relevant information:

https://www.elephantrobotics.com

Do not use the robotic arm for the following purposes:

• Medical care costs in life-critical applications.
• Buying a bus may cause an environmental explosion.
• Direct use without risk assessment.
• Costs of using low-level safety functions.
• Lo-fi does not meet the performance parameters of robot use.

Disclaimer

Please read and understand the following disclaimer before using the product:

• Safe Use: This product is designed for specific application scenarios. Ensure that all safety guidelines and operating manuals are followed during use. Users should receive appropriate training on product use and understand and comply with all relevant safety regulations.

• Limitation of Liability: The manufacturer is not responsible for any direct, indirect, incidental, special, or consequential damages resulting from the use or misuse of the product or any matters related to the product. This disclaimer does not cover or exclude liabilities that cannot be excluded by law.

• Technical Support: Please read the product documentation carefully during installation and use, and seek technical support from the manufacturer if necessary. For technical support issues, refer to the official documentation provided by the manufacturer or contact the relevant support channels.

• Software Updates: The manufacturer may provide updates for the product firmware or software. Users should regularly check and apply these updates to ensure product performance and safety.

• Regular Maintenance: Users should inspect and maintain the product according to the regular maintenance guidelines provided by the manufacturer. Regular maintenance and inspection help ensure the long-term performance of the product.

• Customization and Modification: Do not customize, modify, or change the product without explicit permission from the manufacturer. Any unauthorized modifications may void the product warranty and may have unpredictable impacts on safety and performance.

• Legal Compliance: Users should ensure that their use complies with all applicable laws and regulations. In some regions, the use of the product may be subject to specific regulations.

By using the Mercury B1 dual-arm humanoid robot, you agree to and accept these disclaimers. The manufacturer reserves the right to change product specifications, functions, and disclaimers without prior notice.

2 Transportation and Storage

Logistics Transportation Requirements

2 Equipment Storage

3 Maintenance and Care

As a robot manufacturer, we value ensuring that customers can properly and safely maintain and upgrade their robot equipment. To this end, we provide the following detailed maintenance and care guidelines, including common maintenance items and parts for repair or upgrade. Please read carefully.

Common Maintenance Items and Recommended Intervals

Guidelines for Independently Changing Robot Hardware

We understand that customers may have the need to upgrade or repair robot hardware independently. Before performing any upgrade operations, please read the relevant product parameters in detail and confirm with our official personnel whether such operations are allowed. Unauthorized operations may lead to product failure and are not covered under warranty.

Material Requirements

Officially manufactured or recommended materials: All parts and components required for repairs and upgrades must be officially manufactured or explicitly recommended by us. This includes but is not limited to electronic components, sensors, motors, connectors, and any other replaceable parts. Material acquisition: Customers can purchase the required repair and upgrade materials through our official channels. This ensures the quality and compatibility of the parts.

Repair or Upgrade Process

Customer self-repair: Customers are responsible for completing the repair work. We will provide detailed repair guidance and manuals to guide customers through the repair steps. Follow official guidance: Repair operations should strictly follow the official guidance provided by us. Any deviation from the official guidance may result in equipment damage.

Responsibility and Warranty Policy

Responsibility Division:

Manufacturer: Provide official guidance for repairs and upgrades, officially manufactured or recommended materials, and handle issues caused by manufacturing defects. Customer: Responsible for completing repairs according to official guidance and using official parts.

Warranty Policy:

Warranty valid: The warranty is valid only if the repair operations fully comply with our guidance and use official parts. Warranty invalid: If the customer does not follow the official guidance or uses non-official parts for repairs or upgrades, any resulting damage will not be covered under warranty.

Precautions

Safety first: Before performing any repair or upgrade operations, ensure that all safety guidelines are followed, including power-off and using appropriate protective equipment. Technical support: If you encounter problems during the repair process, it is recommended to stop the operation and contact our technical support team for assistance. We strongly recommend that customers strictly follow these guidelines to ensure the safe and effective operation of the robot equipment. Improper repair operations may result in equipment damage and affect the warranty status. If you need further guidance or support, please contact our professional technical team in time.

4 Frequently Asked Questions

How to Ask Questions Gracefully

1 When asking questions in various places, you may encounter the following phenomena:

• No response after asking a question.
• The question is answered after a long time.
• The other party always complains that you are too inexperienced.

2 Before asking a question, make sure you have studied this manual.

Many questions will be resolved in this process. Avoid asking questions in QQ groups, forums, issues, or emails right from the start. Many questions explained in the documentation may not receive timely responses from the community. To save everyone's time and create a better community environment, please understand each other and grow together.

3 When asking questions, try to do the following, which will greatly increase the chances of quickly resolving the issue:

Clarify what happened and what you did, including:

• What effect or function do I want to achieve?
• How did I do it to achieve this effect, and what was the specific process?
• What errors occurred during the implementation, and what were the phenomena (e.g., what was the reported error, and what was the complete error content)?
• Did I carefully read the error message, and did the error message suggest the cause and solution?
• Based on these error messages, can I solve the problem myself?
• Can I find a solution to the problem by searching the documentation, issues, and search engines?

4 If you really cannot solve the problem yourself and need help, consider:

• Whom to ask, where to ask, who is more likely to answer my question, and what is the real-time nature?

• What data and phenomena should I provide to make the person willing to quickly help me solve the problem?

  • Provide my purpose (to let the responder know what you are doing)
  • Provide the complete implementation process and the phenomena that occurred during the process (to allow the responder to follow your process and reproduce the problem)
  • Point out the error and indicate where the phenomenon or result differs from my expectations (to let the responder know where it did not meet expectations)
  • Provide the error message, which needs to be complete, with as many screenshots and logs as possible. Do not be stingy with a small screenshot or only provide part of the log (because the responder may not have done this for a long time and may have forgotten some details, they need to quickly recall through screenshots and complete logs; and detailed logs can quickly locate the problem)

• How to ask questions in a way that appears sincere, so that even if I am inexperienced, everyone is willing to answer

5 Question Template

Try to ask questions gracefully, without adding unnecessary tone words or complaints. Carefully consider each word and punctuation mark, and think from the responder's perspective about how to quickly help solve the problem. Too few words may not describe the problem clearly, while too many words may make people lose patience.

6 Title

Whether asking questions in QQ groups or elsewhere, give your question a title of about 30 words that clarifies the central idea of the problem, including:

• The type of question, whether it is a question, a bug report, or an experience sharing, etc. This allows people to immediately understand what you want to do in a screen full of text.
• A sentence that clarifies the central idea of the problem, such as "Running the camera example program, error reset fail, could it be a hardware issue?"

So, a comprehensive title could be:

• "【mercury question】 Running the camera example program, error reset fail, could it be a hardware issue?"

Avoid titles like:

• "Ahhh, why is my board not working again"
• "Why can't my code run"
• "Why is my screen black"
• "【mercury question】 Received the development board, the screen is red with a line of small text, why?"
• "I ran the xxx program, and there was a problem"

You can ask like this:

• "【mercury question】 My board cannot start after I connected the power supply incorrectly. How can I determine where the board is damaged, and if possible, how can I fix it?"

7 Content

First, from the responder's perspective, if asked a question:

• First, know what the other party wants to do and what their goal is.
• What steps did they follow to achieve this goal?
• What specific steps did they take, and at what step did the problem occur, so I can try to reproduce the phenomenon by following their steps? If the problem seems difficult to solve and there are no reproduction steps, it may take a lot of time to reproduce, so I will solve other problems first.
• What is the specific problem? If they only say there is a problem, how do I know what the problem is? Maybe they are feeling unwell? So, it is very important to explain the phenomenon when the problem occurs and point out where it differs from expectations. Otherwise, I have to guess and compare with expectations, which increases the time to solve the problem.
• When a problem occurs, I may need their log files to analyze the source code, etc. Otherwise, it may be difficult to solve the problem, so I will put this problem aside for now.

In summary, you can ask questions like this:

• Clearly state your goal, what you want to achieve, and what the phenomenon should be.
• Did I refer to any documentation, code, or tutorials?
• How to reproduce the error: specifically, what steps were taken, write each step in detail until the problem occurs.
• Clearly describe the phenomenon when the error occurs and where it differs from expectations, proving that the problem indeed occurred.
• Attach log files, screenshots, and even videos. Logs and screenshots must be complete, not just a small part. The responder may find some issues you did not notice from your complete logs and screenshots, which is very important.
• Additionally, paste the code with proper formatting to ensure it is readable and can be run directly.
• Finally, express gratitude to the community members who help answer your questions.

Driver Related

1 About Python

Q: What do the parameters in the API send_base_coords([x, y, z, rx, ry, rz], speed) mean? What do rx, ry, and rz correspond to in Euler angles? What is the rotation order of Euler angles? What is the range of each parameter?

• A: The parameters in the array are the coordinates of the Mercury B1 end, and speed is the velocity. rx, ry, and rz correspond to RPY, which are roll, pitch, and yaw, respectively. The order of Euler angles is zyx, and zyx is its own coordinate. The range of x, y, z is -350~350, -350~350, -41~523.9 (undefined range, if exceeded, inverse kinematics will return no solution). The range of rx, ry, rz is -180~180.

Q: Are the Python APIs the same for different versions of the robotic arm?

• A: The APIs are the same.

2 About ROS

Q: Can you provide the rviz model files and programming examples?

• A: They can be found on our GitHub. “https://github.com/elephantrobotics/mercury_ros”

Q: Why do I get a permission error “/dev/ttyUSB0” when starting the rviz model file using ROS?

• A: This is because the serial port permission is not granted. You should type sudo chmod 777 port name in the terminal. For example:

  5673ade8eb00a28794557125b7d1c8cd332434a9

  sudo chmod 777 /dev/ttyUSB0
  

<<<<<<< HEAD 问：为什么在运行 ROS 的滑块控件和模型遵循命令时，错误 _init_() takes exactly 2 arguments (3 given)？

• 答：pymercury 库未安装和启动。

问：使用 ROS 时，为什么打开 rviz 模型后 mercury_B1 角度与模型角度不一致？

• 答：很有可能mercury_B1的零位没有校准，mercury_B1的零位需要校准。

软件问题

关于ROS1

问:终端切换到~/catkin_ws/src，使用git安装更新mercury_ros时，目标路径“mercury_ros”已经存在。原因是什么?

• 答:这意味着在~/catkin_ws/src中已经有一个“mercury_ros”包了。需要提前删除，然后重新执行git操作。

问: rosrun运行时，终端错误提示“could not open port /dev/ttyUSB0: Permission: '/dev/ttyUSB0'”。为什么?

• 答:串口权限不足。在终端输入“sudo chmod 777 /dev/ttyUSB0”，授予权限。

问:为什么ROS程序不能在VSCode中运行?

• 答:由于VSCode终端无法加载到ROS环境中，需要在系统终端中运行。

问: rosrun运行时，终端提示“无法注册主节点[http://localhost:11311]:主节点可能尚未运行”。我会继续努力的。”原因是什么?

• 答:运行ROS程序前，需要打开ROS节点，在终端中输入“roscore”。

问: rosrun运行时，终端错误提示“could not open port /dev/ ttyusb0: No such file or directory: '/dev/ttyUSB1'”。为什么?

• 答:串口错误。需要确认当前机械臂的实际串口。可以通过ls /dev/tty*查看。

问:在Ubuntu18.04中，' catkin_make '构建代码失败，终端提示' Project 'cv_bridge'指定'/usr/include/opencv'作为包含目录，没有找到。和其他错误信息

• 答:配置文件中的OpenCV路径与系统实际路径不匹配。你需要使用sudo命令修改配置文件(路径为“/opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake”)。系统的实际OpenCV路径位于“/usr/include/”路径下。

问:只需克隆mercury_ros包，然后直接运行rosrun程序。出现诸如“package”mercury_ros“not found”之类的错误或诸如无法找到文件之类的错误?

- 答:新克隆的mercury_ros需要构建ROS环境编译的代码。终端输入

Q: Why do I get the error _init_() takes exactly 2 arguments (3 given) when running the ROS slider control and the model follows the command?

• A: The pymercury library is not installed and started.

Q: Why does the mercury_B1 angle not match the model angle after opening the rviz model when using ROS?

• A: It is likely that the zero position of mercury_B1 is not calibrated, and the zero position of mercury_B1 needs to be calibrated.

Software Issues

About ROS1

Q: When switching to ~/catkin_ws/src in the terminal and using git to install or update mercury_ros, the target path “mercury_ros” already exists. What is the reason?

• A: This means that there is already a “mercury_ros” package in ~/catkin_ws/src. You need to delete it in advance and then re-execute the git operation.

Q: When running rosrun, the terminal error prompts “could not open port /dev/ttyUSB0: Permission: '/dev/ttyUSB0'”. Why?

• A: Insufficient serial port permissions. Enter “sudo chmod 777 /dev/ttyUSB0” in the terminal to grant permissions.

Q: Why can't ROS programs run in VSCode?

• A: Because the VSCode terminal cannot load into the ROS environment, you need to run it in the system terminal.

Q: When running rosrun, the terminal prompts “Unable to register with master node [http://localhost:11311]: master may not be running yet. Will keep trying.” What is the reason?

• A: Before running the ROS program, you need to open the ROS node by entering “roscore” in the terminal.

Q: When running rosrun, the terminal error prompts “could not open port /dev/ttyUSB0: No such file or directory: '/dev/ttyUSB1'”. Why?

• A: Serial port error. You need to confirm the actual serial port of the current robotic arm. You can check it by ls /dev/tty*.

Q: In Ubuntu 18.04, 'catkin_make' fails to build the code, and the terminal prompts 'Project 'cv_bridge' specifies '/usr/include/opencv' as an include directory, which is not found. And other error messages.

• A: The OpenCV path in the configuration file does not match the actual system path. You need to use the sudo command to modify the configuration file (path is “/opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake”). The actual OpenCV path of the system is under the “/usr/include/” path.

Q: Simply cloning the mercury_ros package and then directly running the rosrun program results in errors such as “package 'mercury_ros' not found” or errors like files not found?

• A: The newly cloned mercury_ros needs to build the ROS environment compiled code. Enter in the terminal:

  5673ade8eb00a28794557125b7d1c8cd332434a9

bash
cd ~/catkin_ws/
catkin_make
<<<<<<< HEAD
source devel/ setup.bash

关于机械臂控制

问:给机械臂发送角度或坐标机械臂没有运动

• 答：使用get_angles()读取机械臂的角度，若角度返回为空，则检查机械臂是否上电，使用power_on()对机械臂进行上电使能；检查端口号是否使用正确。 若有角度，查看角度是否超出运动范围见表1，如果超出范围，使用release_all_servos()放松所有关节（注意关节放松后会下坠，需要接住），对齐1~5、7关节零刻度线，6关节与零刻度线90度垂直。再使用focus_all_servos()锁定关节，再使用set_servo_calibration(1)~set_servo_calibration(7)依次校准各关节零点，再使用get_angles()读取当前关节角度，如返回数据为[0, 0, 0, 0, 0, 90, 0]则为校准成功，否则重复之前的校准步骤。

| 关节 | 范围 |

source devel/setup.bash ```

About Robotic Arm Control

Q: The robotic arm does not move when sending angles or coordinates to it.

• A: Use get_angles() to read the angles of the robotic arm. If the angles return empty, check if the robotic arm is powered on, and use power_on() to enable the robotic arm; check if the port number is used correctly. If there are angles, check if the angles exceed the movement range as shown in Table 1. If they exceed the range, use release_all_servos() to relax all joints (note that the joints will fall after relaxation, so catch them), align the zero scale lines of joints 1~5, 7, and make joint 6 perpendicular to the zero scale line by 90 degrees. Then use focus_all_servos() to lock the joints, and use set_servo_calibration(1)~set_servo_calibration(7) to calibrate the zero points of each joint in sequence. Then use get_angles() to read the current joint angles. If the returned data is [0, 0, 0, 0, 0, 90, 0], the calibration is successful. Otherwise, repeat the previous calibration steps.

| Joint | Range |

5673ade8eb00a28794557125b7d1c8cd332434a9 | :----: | :----: | | J1 | -175 ~ +175 | | J2 | -65 ~ +115 | | J3| -175 ~ +175 | | J4 | -180 ~ +10 | | J5| -175 ~ +175 | | J6| -20 ~ + 173 | | J7| -180 ~ +180 |

<<<<<<< HEAD

问:摄像头无法打开

• 答：打开本地相机查看是否可以切换到左右臂摄像头，如有某个摄像头无法查看，则重新拔插USB口或者更换USB口。 若可以切换到左右摄像头，检查摄像头端口是否发生变化(在重启后，端口可能发生变化)

问:自适应夹爪无法控制

• 答：查看自适应夹爪的电源指示灯，正常时指示灯应为常亮状态，若指示灯出现闪烁情况，请重新拔插夹爪与机械臂的连接线，指示灯恢复常亮状态则正常。 若指示灯为常亮状态仍无法控制，使用set_gripper_mode(0)更改夹爪使用模式。

硬件问题

1 关于结构

问:Atom在机械臂中的作用是什么?

• 答: Atom主要控制机械臂的运动学算法，包括正逆运动学、解选择、加减速、速度同步、多功率插补、坐标转换等。与atom相关的程序还不是开源的。

问:使用过程中电机自动切断电源。为什么?

• 答:电机长时间使用有过热保护。这种现象属于正常现象，几分钟后可以继续使用。

2 关于参数

问:机械臂的速度单位是多少?

• 答:运行速度为180度/秒。

问:自适应夹持器可以不完全关闭吗?

• 答:下巴之间会有一定的间隙，它们并不是完全闭合的。您可以通过增加它们之间的间隔的厚度来调整它。

问:机械臂末端USB摄像头如何固定?

• 答:需要用法兰固定，可以单独购买。

如果您有购买意向或任何参数问题，请发送电子邮件至此邮箱。 邮箱 : "sales@elephantrobotics.com"

如果列出的问题不能帮您解决，您有更多售后问题，请发送邮件至此邮箱。 邮箱 : "support@elephantrobotics.com"

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Q: The camera cannot be opened.

• A: Open the local camera to see if it can switch to the left and right arm cameras. If a certain camera cannot be viewed, re-plug the USB port or change the USB port. If it can switch to the left and right cameras, check if the camera port has changed (the port may change after restarting).

Q: The adaptive gripper cannot be controlled.

• A: Check the power indicator of the adaptive gripper. The indicator should be steady on when normal. If the indicator flashes, re-plug the connection cable between the gripper and the robotic arm. If the indicator returns to steady on, it is normal. If the indicator is steady on but still cannot be controlled, use set_gripper_mode(0) to change the gripper usage mode.

Hardware Issues

1 About Structure

Q: What is the role of Atom in the robotic arm?

• A: Atom mainly controls the kinematic algorithms of the robotic arm, including forward and inverse kinematics, solution selection, acceleration and deceleration, speed synchronization, multi-power interpolation, coordinate transformation, etc. Programs related to Atom are not yet open source.

Q: The motor automatically cuts off power during use. Why?

• A: The motor has overheat protection for long-term use. This phenomenon is normal and can be used again after a few minutes.

2 About Parameters

Q: What is the speed unit of the robotic arm?

• A: The running speed is 180 degrees/second.

Q: Can the adaptive gripper not be fully closed?

• A: There will be a certain gap between the jaws, and they are not fully closed. You can adjust it by increasing the thickness of the gap between them.

Q: How to fix the USB camera at the end of the robotic arm?

• A: It needs to be fixed with a flange, which can be purchased separately.

If you have purchase intentions or any parameter questions, please send an email to this address. Email : "sales@elephantrobotics.com"

If the listed questions cannot help you solve the problem, and you have more after-sales questions, please send an email to this address. Email : "support@elephantrobotics.com"

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