[Training Camp] Bionic robot dog driven by steering gear

【Background of the project】

  Participating in the bionic robot dog training camp, the dog controlled by Hi-3861 of Chuanzhi Education was busy with work and had no experience in doing projects for the first time, so he first followed the tutorial and completed the physical object.

【Project Description】

  Developed based on the open source Hongmeng system, the PWM chip is PCA9685PW, which can theoretically control 16-channel servos. The programming port and IO port are all lead out for subsequent upgrades.

【Production process】

     At first, I planned to follow the example of adding a wheelchair to a disabled dog that appeared on the Internet and make two legs and two wheels. Later, I thought that since I had already done it, I would just add wheels to the back of the four-legged dog. And due to the twists and turns in the middle, only four legs have been completed.

   At the beginning of the design of the circuit, we only considered using a power bank for power supply, so we installed a type C interface. Then we found that the power bank directly supplies the 5V voltage stabilizing chip, which will cause losses, so we removed the voltage stabilizing chip. After that, it became a nightmare. After welding it out, Even though I found that the power bank may not have enough power to drive the 4 legs, the actual test showed that the power consumption of the two legs was about 6W, and the 3 legs could barely move. The 7 servos restarted directly. My poor 5W power bank could not carry it. .

   So I bought a DC_DC module and a 12V battery, and connected the flying wires directly under the pins. It made me feel obsessive-compulsive disorder. When doing subsequent projects, I must carefully calculate whether the power supply is sufficient and the trace width. This time all As a lesson.

[Finished product demonstration and description]

Just import the official routine to demonstrate the steps, and then slowly add functions such as forward, backward, and steering by yourself.

https://www.bilibili.com/video/BV1Ca411S791/?vd_source=60a2f2fa0b3f31b8b35ad26b7e2675f2