Как Сделать Идеальный Сервопривод из любого BLDC мотора | Векторное управление | Робособака №1

TrashRobotics December 13, 2024
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Поддержать проект мусорного роботопрома: Бусти: https://boosty.to/trashrobotics/donate Т-банк (Тинькофф) чаевые: https://pay.cloudtips.ru/p/a631a730 Спонсор: https://sponsr.ru/trashrobotics/ Телега: https://t.me/trashrobotics Дзен: https://dzen.ru/trashrobotics По вопросам сотрудничества: [email protected] __________________________________________________ Некоторое время назад я обещал сделать робособаку. Спустя месяцы копания в этой теме, время наконец пришло. А начнем мы с основного: с ее приводов. В роботах подобных споту (Boston Dynamics), Unitree или тому же Mini Cheetah, в качестве силовых приводов используются большие бесколлекторные мотор-редукторы. Если мы хотим добиться той же плавности, скорости и мощности, нам никуда не деться. И придется тоже их использовать. Проблема в сложности их управления. Или же нет? Действительно ли управлять ими настолько сложно как многие пугают? По ходу дела также расскажу как разработать и собрать свой сервопривод на основе любого бесколлекторного мотора и напечатанного на 3д принтере редуктора. Не только для робособаки, но и для любого продвинутого робота. Разберемся что такое векторное управление. Разведем свой контроллер и модернизируем волновой редуктор с ПТК. В этот раз постараюсь делать все как можно проще, чтоб робособаку можно было повторить. stl-файлы редукторов: https://boosty.to/trashrobotics/posts/664f7fba-e21d-474c-a076-fc927a8e1ebf калькулятор профиля редуктора и гайд к нему: https://boosty.to/trashrobotics/posts/ab3f6701-b668-4861-923f-f213840cb547 Моторы: - Моторы, похожие на используемые мной в видео: https://alii.pub/74u414?erid=2SDnjdmmz9J - Небольшие и недорогие моторы (пойдут для маленькой робособаки): https://alii.pub/73xkfs?erid=2SDnjcYGXoy - Моторы, аналогичные оригинальным в роботе Mini Cheetah (не заказывал/не проверял): https://alii.pub/73xkk9?erid=2SDnjc2d7f1 Драйверы: - аналог odrive: https://alii.pub/75bi5w?erid=2SDnje4RhwS - драйвер поменьше: https://alii.pub/73xkmz?erid=2SDnje6i7Uw Энкодеры: - MT6701: https://alii.pub/73xkoc?erid=2SDnjf25fdM Пластик: https://bestfilament.ru/ __________________________________________________ Источники: 1. Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control / Benjamin Katz et al. // 2019 InternationalConference on Robotics and Automation (ICRA) . 2019. P. 6295. 2. Design of a High Torque Density Robot Joint and Analysis of Force Control Method Applied for a Light Exoskeleton / Gan Zhang et al. // Electronics. 2023. V. 12. P. 397. 3. A low cost modular actuator for dynamic robots / Benjamin Katz // Thesis. 2018. 4. Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped Robot / Joonyoung Kim et al. // Appl. Sci. 2021. V. 11. P. 3762. Реклама: ООО "АЛИБАБА.КОМ (РУ)" ИНН/Регистрационный номер: 7703380158 00:00 Вступление 01:14 Про моторы 02:15 Про редуктор 03:15 Сборка сервопривода 03:45 Ролики и продолжение сборки 04:55 Векторное управлени 06:31 Подчиненное регулирование 07:10 simpleFOC 08:37 Выбор компонентов 09:32 Разводка драйвера 10:57 Итоги по драйверу 11:28 Итоги по сервоприводу

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