宋元浩

【Training Camp】Quadruped Robot

Overview

Making a quadruped robot from scratch.

Product introduction: It is developed based on the OpenHarmony open source Hongmeng system. The chip used is hi3861 and the pca9685 module is used.

Materials required: 7.4v lithium battery*1, sg90 steering gear*8, inner diameter 4mm outer diameter 11mm bearing*4, inner diameter 3mm outer diameter 12mm bearing*4, some M3*4 self-tapping screws, pca9685 module, M3*25 bolts ,M3*6 bolt.

The overall structure is 3D printed (it is recommended to print it yourself as much as possible, I spent 110 on Taobao)

structure

The structural problems I made for the first time were very big. Firstly, the m3 bolts on the bearings were not actually needed. Secondly, there was no margin left in the shell, which caused the 3D printing error to be too large. The board could not fit in and was polished like crazy (it took two nights to polish it). I am already autistic), and thirdly, there are too many servo lines and I did not take into account that the decorative cannon on it is too low.

If anyone wants to use it, I suggest you change it yourself or re-upload it after I finish my work next month.

pcb

The pcb part adds a ch340 serial port to ptc and a lithium battery charging and discharging module. There is not much to say.

program

The program part involves a lot of reference, so I will not publish it until I finish sorting it out in the next month.

Regarding the algorithm, we refer to the boss of station B: https://www.bilibili.com/video/BV1tY411W75R

The source code of the kame robot (anyone who knows the source code can understand it on Github. If you can’t get in, you can ask me for it)

Expand

Loed ultrasonic tracking modules can be added, and the decorative cannon on it can be changed and rotated. Of course, it may be overweight and need to replace the servo.

Precautions

There is a problem with the mob meter. Replace the tantalum capacitor with a normal one, otherwise the 0605 will easily boom. If the button schematic does not match the actual thing, it will be a big headache for those who don't recommend it.

Design Files

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Update:2025-05-08 12:47:34

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