Project files

16DOF Walking Robot · Bonjour

Bonjour (the belt is taut... ) ૮₍ •ᴗ•ₐა

Hello everyone! This time we bring you the final version of Bonjour to compete on the stage.

We have made the following upgrades based on the 8DOF version:

1. Body Mainboard and Hip Joint Mounting Optimization

The front and rear sections of the mainboard now feature two additional mounting points for the hip joint motors. The material has been changed from aluminum alloy to carbon fiber to reduce weight and improve aesthetics.

2. Transmission Connection Structure Adjustment

Removed the "Motor Connection 2" from the 8DOF and added an adapter to directly connect the thigh motor to the hip joint motor.

3. Calf Plate Adaptation for Wheel Feet

The calf plate was modified to accommodate the wheel-foot version, and a calf plate model was provided with hole positions compatible for switching between wheels and Unitree foot ends. However, this solution was not ideal for our team, so it was ultimately rejected. If anyone is interested, feel free to contact us for the files.

Acknowledgments

Here, we would like to give special thanks to the following open-source projects and teams:

1. Lain and Fujian University of Technology: Once again, we sincerely thank the open-source 8DOF serial robotic arm design. It was this valuable resource that provided us latecomers with a clear learning path and design foundation, and made us feel the power of selfless sharing.

2. Wuhan Institute of Technology [RM2023-Balanced Infantry Inflatable Wheel Open Source]: We sincerely thank their open-source solution, which provided us with very important reference for wheel design. On this basis, we modified the outer hub to adapt to the RS02 and quadruped wheel-foot design.

It is precisely because of your openness and inclusiveness that teams like ours, with weak foundations and late starts, have the opportunity to learn and progress standing on the shoulders of our predecessors. These open-source resources are not only technical references for us but also precious learning guides!

Notes

1. Recommended Transmission Design

It is recommended to replace the "gear + belt" transmission with a linkage transmission as the transmission scheme between the thigh and calf. This approach not only resolves the overheating issue of the rear-leg motor but also enhances the rigidity of the device during turns.

During the 26th season, the problems we encountered with belts included:

• Gears would pull the belt too tight, applying excessive radial load to the motor output shaft;
• Combined with Bonjour's overall center of gravity being too far back, this caused severe overheating of the rear calf motor. Additionally, belts are prone to aging, being worn flat by gears, skipping teeth, and even breaking due to excessive tension.

Note: Since Bonjour's belt did not actually break or come loose during debugging, we named it Bonjour (a pun on "tensioned tight" in Chinese). ૮₍ •ᴗ•ₐა

2. Recommended Wheel Materials

For the wheels, we use PETG throughout. However, we strongly recommend replacing the outer wheel hubs with fiberglass or carbon fiber plates to prevent the outer hubs from breaking at the point where they connect to the motor output shaft (verified in testing).

3. Future Open-Source Plans

Files such as the Odin1 protective case and Nano mounting box will be gradually open-sourced in the future.

Notes (PS)

As I come from an Information Engineering School, I had not systematically studied mechanical expertise nor the usage of SolidWorks or drawing standards before. Therefore, there might be errors or warnings (O_o) in the open-sourced SW files. Your understanding is appreciated. If there are any shortcomings in the files, your criticism and corrections are also welcome. We hope to communicate and progress together with you.

Contact information for the Mechanical Team:

Wang Shuqi (JadeCrane) WX: DouSfJade QQ: 3070940094

Sulcunfu (wusi321) WX: LcfNotFound QQ: 3299459360

Welcome to communicate and correct us, and thank you to every friend who is willing to offer valuable suggestions!