[mechanical] 添加16DOF串联轮足机械设计
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# SolidWorks 源文件
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`solidworks/` 保留原始装配层级和文件名。
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建议使用 `solidworks/WEEKDOG.SLDASM` 作为整机入口。`26版sw单件/` 包含组成整机的单件和子装配体，不应随意改名或拆散。
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# 机械设计
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# 16DOF 串联轮足机械
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本目录用于整理 16DOF 串联轮足机器人的机械资料。
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本目录保存山东华宇工学院 16DOF 串联轮足机器人的机械设计资料。
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机器人由 12 个腿部关节和 4 个驱动轮组成，共 16 个执行器。源资料说明其使用 SolidWorks 26 版本完成设计、装配和 URDF 导出准备。
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## 目录结构
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```text
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02_mechanical/
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├─ CAD/ # 可编辑机械源文件
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├─ STEP/ # 通用交换格式
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├─ drawings/ # 二维加工图
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└─ robot_description/
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├─ URDF/
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└─ MJCF/
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├─ CAD/
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│ └─ solidworks/
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│ ├─ WEEKDOG.SLDASM # 整机装配体入口
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│ ├─ 轮子完整.SLDASM # 轮组装配体
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│ ├─ 轮毂垫片.SLDPRT # 独立零件
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│ └─ 26版sw单件/ # 单件与子装配体
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├─ STEP/
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│ ├─ WEEKDOG.STEP # 整机通用交换文件
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│ └─ *.STEP # 身体、关节、腿部和轮组
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└─ source_notes.txt # 原始资料说明
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```
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正式导入前需要确认比赛机械、训练模型和仿真模型之间的尺寸、质量与关节定义关系。
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## 文件统计
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- SolidWorks 装配体：4 个 `*.SLDASM`
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- SolidWorks 零件：26 个 `*.SLDPRT`
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- STEP 文件：10 个
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## 使用方式
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- 需要继续编辑设计时，从 `CAD/solidworks/WEEKDOG.SLDASM` 打开整机。
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- 只需查看、测量或导入其他 CAD 软件时，使用 `STEP/WEEKDOG.STEP`。
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- 子部件调试可以使用身体、髋关节、大腿、轮小腿和轮组 STEP。
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- 为避免装配引用丢失，不要单独移动或重命名 `CAD/solidworks` 内部文件。
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## 当前缺项
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- 尚未提供关键零件二维 PDF 工程图。
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- 尚未形成 BOM、装配步骤和干涉检查报告。
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- 尚未核对 CAD 参数与训练使用的 URDF/MJCF 是否完全一致。
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# STEP 交换文件
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本目录提供不依赖 SolidWorks 的通用机械交换文件。
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- `WEEKDOG.STEP`：整机
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- `DOG身体.STEP`：机器人身体
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- `髋关节END.STEP`：髋关节
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- `大腿.STEP`：大腿组件
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- `轮小腿.STEP`：轮足小腿组件
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- `轮子完整.STEP`：完整轮组
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- 其余文件：轮子、轮毂垫片和连接零件
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ISO-10303-21;
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HEADER;
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FILE_DESCRIPTION (( 'STEP AP214' ),
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'1' );
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FILE_NAME ('ÂÖì±µæƬ.STEP',
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'2026-04-27T05:39:26',
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( '' ),
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( '' ),
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'SwSTEP 2.0',
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'SolidWorks 2026',
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'' );
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FILE_SCHEMA (( 'AUTOMOTIVE_DESIGN' ));
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Load Diff
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Load Diff
@@ -0,0 +1 @@
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机械设计采用26版本sw设计，装配，以及urdf导出，为减少sw装配出现问题，采用单件装配小件各个关节装配体，转step关节文件，step各关节装配总装配体方案
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
RC_WheelLeg 是山东华宇工学院 16DOF 串联轮足机器人项目。
|
||||
|
||||
当前 `16dof` 分支用于整理 16DOF 机械、强化学习训练、Sim2Sim、Sim2Real、ROS 2 部署和比赛版本。各模块将在确认权威来源后逐步导入。
|
||||
当前 `16dof` 分支用于整理 16DOF 机械、强化学习训练、Sim2Sim、Sim2Real、ROS 2 部署和比赛版本。机械源文件与 STEP 交换文件已经完成首轮整理，其他模块将在确认权威来源后逐步导入。
|
||||
|
||||
## 平台概览
|
||||
|
||||
@@ -28,7 +28,13 @@ RC_WheelLeg/
|
||||
|
||||
## 当前状态
|
||||
|
||||
16DOF 内容尚未导入。本分支当前只保留稳定的顶层目录骨架，后续每次导入前先确认版本来源、适用模型和实机验证状态。
|
||||
- [x] 整理 SolidWorks 机械源文件
|
||||
- [x] 整理整机与关节 STEP 文件
|
||||
- [ ] 核对比赛机械与仿真模型参数
|
||||
- [ ] 整理 URDF/MJCF 机器人描述
|
||||
- [ ] 整理强化学习、Sim2Sim 和 Sim2Real
|
||||
|
||||
机械资料入口见 [`02_mechanical/README.md`](02_mechanical/README.md)。
|
||||
|
||||
## 版本管理
|
||||
|
||||
|
||||
Reference in New Issue
Block a user