Completed[Training camp]bilibili robot dog - Tianquan
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[Training camp]bilibili robot dog - Tianquan
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License
：GPL 3.0
Creation time:2024-12-03 02:13:35Update time:2024-12-04 02:11:09
Description
Project Introduction:Design a quadruped robot that looks like this.
Bilibili video link:
In fact, the 3D printed back assembly is like this:
Showcase in action
Project Analysis:
1.the structural part
Referring to the structure of the four-legged robot, the attachment is the latest version of the 3D drawing, which can be directly proofed and produced, and the production price is about 200 yuan. Click here for the specific open source link:Brother Deng's open source 
2.the circuit part
1. Based on the main control of Hongmeng Hi3861, it supports the development of Hongmeng system. Procurement links
2. The 8-channel servo is managed by the driver chip PCA9685PW, which can control up to 16 servos. The IIC interface is used to connect with the microcontroller.
3. The MPU6050 module identifies the current state of the dog by reading the angular velocity and gyroscope data, so as to better control the dog's walking.
3. Software part
1. Adopt Hongmeng development platform for development, the development environment is compiled for ubuntu20 Linux environment, and the serial port burning program of windows platform.
4.the assembly part
1. Accessories procurement:
(1) Thigh connection bearing:
(2) Locknut: The connection must be purchased with an locknut, otherwise it will be loose after a few steps.
Purchase M2 and M3 models 10pcs each.
(3) Calf tie rod assembly:
(4) MG90S servo:
(5) MPU6050 module:
(6) Screws:Purchase link
| The name of the screw | Quantity purchased |
|---|---|
| m2X8 self-tapping screws | 10pcs |
| M2*10 self-tapping screws | 10pcs |
| M2*10 fine tooth screw | 10pcs |
| M2*15 fine-pitch screws | 10pcs |
| M3*25 fine tooth screw | 10pcs |
| M3*10 fine tooth screw | 10pcs |
(7) Battery:Purchase link
(8) Remote control: Purchase link
Schematic design description
Lithium battery charging, discharging, boosting circuits
PCB Design Instructions
Software Description
Brief description of the dog movement algorithm:Refer to pineapple dog
Algorithm reference: Brother Deng's quadruped robot[Tutorial] Brother Deng's 0 basic DIY quadruped robot guide
1. Correct kinematics solution
- Known: angle of thigh, calf
- Seek: Foot end coordinates
1. The process of kinematic positive solving
The legs of the robot dog are placed according to the position in the figure, and a coordinate system is made in the plane where the legs are located, as shown in the figure below. The angle between the thigh and the x-axis is A1 (the angle of the thigh), and the angle between the thigh extension and the calf is A2 (the angle of the calf).
2. Calculation method
3. Rotation Transformation--Refer to Brother Deng's open source video: Rotation Transformation旋转变换
2. Kinematic inverse solution
- Known: Foot end coordinates
- Seek: the angle of the thigh and calf
Physical display description
!
The issue is not resolved
1. The circuit board design V2.0 version, the current version can only use the data line for power supply because of the excessive current, the 18650 battery can not carry 8 servos, and the instantaneous current is about 2A.
On July 22, it was solved, and the power supply part was replaced, and the power supply was provided by model aircraft batteries.
2. Add the MPU6050 module as the dog's posture verification, the software is being written, and it is not completed.
3. It is planned to add the K210 module as a head camera for dogs, as an item recognition and object tracking, which is planned and has not yet been implemented.
4. The circuit board is integrated, and now it is spliced for various circuit boards.
Demo video
Designed by 羽辰 (from OSHWHub)
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