开源机械狗-OPEN-DOG-–-THE-OPEN-SOURCE-ROBOT

openDog开源机械狗制作的初始图片。

机械狗的原型是在GPL3下授权的开源机械狗，通过开源代码获取到CAD图纸。

This page is mostly about the initial design process for openDog. This is an open source robot licensed under GPL3, you can find CAD and code on my Github which will be updated throughout the build series. There are some videos about this, or scroll down for some pictures and words:

相关CAD图纸和在Fusion360下完成的，其可以允许我们建设一些节点，测量的以检测CAD的检测维度。

The CAD is drawn in Fusion360 which allows me to construct joints and linkages and measure the CAD to check dimensions.

机械狗将有一个模型，相关的关节信息是通过实时计算出来的。

This robot with have a kinematic model so I can place the feet in any XYZ space and the joint positions will be calculated in real time.

使用了一个O驱动机器人的去电点击，项目中使用的直流无刷点击。

I’m using ODrive Robotics motor drivers with brushless motors for this project. The motors are 149KV 6374 motors which are the same as the ExoSuit.

In part 2 I planned the detailed mechanics for one knee joint

建设相应的执行机构和测试Odriver

I built the actual joints and tested it with the Odrive which you can see in the second video above:

后一件事就是创建执行的原型。

The next thing to prototype is the actuator that moves the hips side-to-side. This is also using a ball screw but needs to be far more compact:

I’m using smooth bar and linear bearings to make it move in and outwards as the ball screw turns:

这个模型理论上可以允许+-15度运动

This seems to fit in fine and allow +/- 15 degrees of movement at the hip – check out video #3 above.

参数资料:

开源机械狗-OPEN-DOG-–-THE-OPEN-SOURCE-ROBOT