GrabCAD 模型信息
Wireless 18-DOF Hexapod Robot - ESP32 + OpenRB-150 & Dynamixel AX-18A · 模型 123755
This is a high-performance, 18 Degrees of Freedom (DOF) Hexapod Robot design, engineered for advanced terrain traversal, inverse kinematics research, and wireless robotic applications. The architecture features a dual-controller setup that optimally segregates high-level wireless telemetry from real-time low-level actuator control: • High-Level Control: Powered by an ESP32 module handle Wi-Fi/Bluetooth communications, state machines, and sensor data processing. • Low-Level Actuation: Offloaded to a ROBOTIS OpenRB-150 embedded board (SAMD21 Cortex-M0+), managing the high-speed 1Mbps TTL multi-drop bus. • Actuators: 18x Dynamixel AX-18A smart servos, chosen for their high torque (1.8 N·m at 12V), integrated feedback parameters (position, temperature, load), and robust 4th metal gear train. • Ground Feedback: Integrated physical Touch Sensors (Limit Switches/FSR) embedded at the tip of each tarsus (foot) to provide real-time ground-contact detection for adaptive gait control.
- 格式
- SOLIDWORKS、STEP / IGES、Rendering
- 分类
- 3D printing、Components、Robotics
- 标签
- 未标注
- 数据更新
- 2026-10-18T18:48:46Z
