搜集了一些优秀的机器人设计，贴出来大家一起看看
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转自 http://www.austrobots.com/
Description
Name
| V-3
| Description
| First version of a two legged robot
with the freedom of movement
of the human lower body.
| Freedom of movement
| 12 act. DOF
| Dimensions
| H 30cm, W 21cm, D 11cm
| Weight
| 1200g
| Power supply
| external
| Speed
| ca. 2cm/s
|
General Configuration
Mechanics
The framework of the robot is made of 3mm acryl-sheets where the different parts got cut out. Alltogether there are 14 servos, but only 12 degrees of freedom (DOF). In the hip, two servos per leg are working together in one movement (both controlled by the same signal) => more power and a better stability. 4 standard servos (Sanwa 1301, 31Ncm) and 3 servos of the type S71 (ModelCraft S-71, 71Ncm) enable the movements of one leg. My target for this construction was to get as far as possible to the same moveability like the lower part of the human body. I also paid attention to keep all the parts easily removable.
Framework, Acryl-sheets
green： standard, red：S71
2 servos for one degree of freedom
Electronics
Index
| description
| A
| RISC Microcontroller ATmega8 (16MHz)
| B
| RISC Microcontroller AT90S4433 (8MHz)
| C
| Comparator LM339
| D
| Accelerometers (SMD) ADXL202
| E
| RS232 interface converter
| F
| 2, 5V-switching regulators 78SR105VC
|
Topview of the current circuit
ATmega8 (16MHz, Master): This controller replaced the AT8535 because it can be driven at 16MHz, for a better servo control. An additional operation is the communication with the Slave-礐 via the SPI-Interface.AT90S4433 (8MHz, Slave): This 礐 is used to realise the Torque-Feedback. The prepared PWM-Signal from the servomotors is beeing processed and this data gets transfered to the Master-礐 via the SPI-Interface.LM339: These comparators prepare the fuzzy PWM-Signal from the servomotors to a clear digital signal that can be processed by the Slave-礐. A rough overview is given in the chart below.
TFB Measurement
The given example is valid for the used Sanwa-Servos. For the S-71 the REF-Voltage has to be connected to the noninverting and the motor signals to the inverting inputs of the comparators. The PWM Output-Signal for the Slave-礐 is independent of the torque direction, because the open collector outputs of the comparators realise a wired OR-Gate. So the Slave-礐 has to process the low periods of this signal.
Blockdiagram
Software
To improve balancing, four force-sensors were added on each foot. Illustration is done by direct display of data next to each sensor and grafically via a circle within each footplate. This illustration points if the forces are uniformly distributed and the center of gravity is within the footplalte(s). If not the servo positions have to be changed regarding this force distribution. The control of the calfs got extended by two slidebars. Like in the previous versions each servo can be controlled directly or both servos via the new slidebars to lean forward or sidewards.
[ 本帖最后由 ly8008csko 于 2011-8-21 10:20 编辑 ] | 
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发表于 2011-8-20 12:28
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