[mechanical] 添加16DOF串联轮足机械设计

02_mechanical/CAD/README.md

@@ -0,0 +1,5 @@
+# SolidWorks 源文件
+
+`solidworks/` 保留原始装配层级和文件名。
+
+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。

02_mechanical/README.md

@@ -1,15 +1,40 @@
-# 机械设计
+# 16DOF 串联轮足机械
 
-本目录用于整理 16DOF 串联轮足机器人的机械资料。
+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。
+
+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。
+
+## 目录结构
 
 ```text
 02_mechanical/
-├─ CAD/        # 可编辑机械源文件
+├─ CAD/
-├─ STEP/       # 通用交换格式
+│  └─ solidworks/
-├─ drawings/   # 二维加工图
+│     ├─ WEEKDOG.SLDASM       # 整机装配体入口
-└─ robot_description/
+│     ├─ 轮子完整.SLDASM        # 轮组装配体
-   ├─ URDF/
+│     ├─ 轮毂垫片.SLDPRT        # 独立零件
-   └─ MJCF/
+│     └─ 26版sw单件/            # 单件与子装配体
+├─ STEP/
+│  ├─ WEEKDOG.STEP            # 整机通用交换文件
+│  └─ *.STEP                  # 身体、关节、腿部和轮组
+└─ source_notes.txt           # 原始资料说明
 ```
 
-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。
+## 文件统计
+
+- SolidWorks 装配体：4 个 `*.SLDASM`
+- SolidWorks 零件：26 个 `*.SLDPRT`
+- STEP 文件：10 个
+
+## 使用方式
+
+- 需要继续编辑设计时，从 `CAD/solidworks/WEEKDOG.SLDASM` 打开整机。
+- 只需查看、测量或导入其他 CAD 软件时，使用 `STEP/WEEKDOG.STEP`。
+- 子部件调试可以使用身体、髋关节、大腿、轮小腿和轮组 STEP。
+- 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。
+
+## 当前缺项
+
+- 尚未提供关键零件二维 PDF 工程图。
+- 尚未形成 BOM、装配步骤和干涉检查报告。
+- 尚未核对 CAD 参数与训练使用的 URDF/MJCF 是否完全一致。

02_mechanical/STEP/README.md

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+# STEP 交换文件
+
+本目录提供不依赖 SolidWorks 的通用机械交换文件。
+
+- `WEEKDOG.STEP`：整机
+- `DOG身体.STEP`：机器人身体
+- `髋关节END.STEP`：髋关节
+- `大腿.STEP`：大腿组件
+- `轮小腿.STEP`：轮足小腿组件
+- `轮子完整.STEP`：完整轮组
+- 其余文件：轮子、轮毂垫片和连接零件

02_mechanical/STEP/轮毂垫片.STEP

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+FILE_NAME ('ÂÖì±µæƬ.STEP',
+    '2026-04-27T05:39:26',
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+    ( '' ),
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02_mechanical/source_notes.txt

@@ -0,0 +1 @@
+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

README.md

@@ -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