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Machine-translated by Robotheca from the original in Chinese (opens in a new tab). License: GPL-3.0-only (opens in a new tab).

Venus-1 Four-Link Wheel-Legged Robot

Real Robot

0x00 Declaration & Introduction

This project is an undergraduate graduation design. Due to time constraints and personal skill limitations, design flaws exist. Replication is not recommended.

This project is licensed under GPL 3.0. Authorization is required for mass production or commercial use.

Demo Videos [Venus Wheel-Legged Robot Video Collection]: https://space.bilibili.com/21198864/lists/4193332?type=series (opens in a new tab)

Overview

Mechanical modeling is done in SolidWorks 2024 SP0.1. Please check software compatibility.
Developed using STM32H723 HAL library with FreeRTOS for task management.
Joint motors: Xiaomi CyberGear micro motors; Wheel motors: DJI C610 + M2006 P36.
Main structure: 3mm 3240 epoxy fiberglass board (high strength).
Fully PID-controlled.
Remote control: FlySky FS-I6X transmitter with FS-IA6B receiver via SBUS.
Primarily uses commercial modules for rapid assembly.

Robot Testing

Self-Adaptive Center of Gravity

Drop Buffer Test

Active Suspension Test (Roll Angle Stabilization)

![Active Suspension Test (Left Side)](.\3.Docs & Pic\最终测试插图\机体主动悬挂测试-左侧.jpg) ![Active Suspension Test (Front View)](.\3.Docs & Pic\最终测试插图\机体主动悬挂测试-前侧.jpg)

Jump Test

Body jump test

0x01 Mechanical Structure | 机械结构

The main structure is made of 3 mm 3240 epoxy resin boards fixed with hex nuts. The electrical compartment is 3D printed.

Linkage Design

Linkages are designed in Pyslvs and modeled in SolidWorks.

| $Picture: .\3.Docs & Pic\机械部分插图\pyslvs.png$ | $Picture: .\3.Docs & Pic\机械部分插图\pyslvs运动参数分析图片.png$ |

3D Schematic

$Picture: .\3.Docs & Pic\机械部分插图\车体简图.bmp$

Electrical Compartment Diagram	Cross-Sectional View
$Picture: .\3.Docs & Pic\机械部分插图\电气仓.bmp$	$Picture: .\3.Docs & Pic\机械部分插图\机体截面图.bmp$

0x02 Electrical Connections

The system power and CAN bus are distributed via a central power distribution board. The following diagram illustrates the connections:

Connection diagram

Power board open-source link: XT60/XT30 Power Distribution Board | CAN Bus Splitter Board (opens in a new tab): https://oshwhub.com/marktracker/xt60-xt30-fen-dian-ban-can-fen-xian-ban (opens in a new tab)

Power distribution board physical image

Physical Assembly Diagram 1	Physical Assembly Diagram 2
$Picture: .\3.Docs & Pic\最终测试插图\最终测试插图.jpeg$	$Picture: .\3.Docs & Pic\最终测试插图\最终测试插图.jpg$

0x03 Software Architecture

Software hierarchy diagram

The software is divided into five main modules. Refer to the full code repository for details.

0x04 Reference Cost & Known Issues | Cost & Known Issues

Reference Cost Table

Material Name	Component	Unit Price (RMB)	Unit Price (RMB)	Qty	Qty	Total (RMB)	Total (RMB)
CyberGear Micro Motor	CyberGear micro motor	499	499	2	2	998	998
DJI M2006 Power Kit	DJI M2006 Kit (C610+M2006 P36)	434	434	2	2	868	868
Main Control Board	Main Control Board (YCMC-H7A/DM-MC02)	259	259	1	1	259	259
3240 Epoxy Board Customization	3240 Epoxy Board Customization	200	200	1	1	200	200
Bearings & Fasteners	Bearings & Fasteners	40	40	1	1	40	40
Central Power Board	Central Power Board	10	10	1	1	10	10
Cables & Connectors	Cables & Connectors	25	25	1	1	25	25
24V35C LiPo Battery	24V35C LiPo Battery	176	176	1	1	176	176
Remote Controller	Remote Controller (FS-I6X + FS-IA6B)	301	301	1	1	301	301
Grand Total	Total				2877 (with remote) / 2576 (without remote)

Files by @track-tech, at commit d64bdc0, read from GitHub in your browser. Hardware license: GPL-3.0-only; software license: GPL-3.0-only. Robotheca doesn't review code: read it before running it.