MartinFowler

[Training Camp] Mechanical Dog for Beginners

Overview

This project uses 7.4v lithium battery for power supply, and the 5v conversion chip uses LM1048S chip.

LM1048S converts the 7.4V power supply into a 5V power supply. The technical document states that the theoretical support is for a maximum current of 5A, but you need to pay attention to the performance of the power supply. Insufficient power supply current will cause the main control to restart or become unstable.

The 3.3V power supply of the main control chip is provided by the 1117 chip, which supports a maximum current of 1A, fully satisfying the main control use.

Since 8 channels of servos need to be controlled and the main control only supports a maximum of 4 channels of PWM signals, the PCA 9685 chip is used for expansion. (The PCA9685 chip uses the I2C protocol to link with the main control. A single chip supports up to 16 channels of PWM signals, that is, it supports 16 channels of rudders. machine)

The 3D printing file comes from the following link structure file

Structure introduction:

1. It is driven by twelve servos, and each joint is supported by a servo (when there is no power supply, the robot dog cannot stand)

2. The structure is not very stable. The gap between the structural parts and the steering gear is large and needs to be reinforced (universal hot melt glue)

Software part:

1. Added 4-way servo control, modified the initial angle of the servo to correct the installation error;

2. Due to the different structure, the position algorithm provided by Chuanzhi cannot be used, and the angle control API can be used.

(However, due to lack of software knowledge, the algorithm for this mechanical structure has not been completed. Several characteristic points are used to reversely analyze the steering gear angle, and the dog can barely move)

Leave a hole: The ultrasonic module detects obstacles, and the 6050 module maintains posture, controls web page modification, and handle control.

Design Files

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Update:2025-05-10 10:12:41

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