This is a complete robot project that includes algorithm simulation, mechanical structure design, electronic hardware design, embedded software design, and upper computer software design. It has accomplished the following:
- Mechanical structure design using SolidWorks
- Algorithm design and robot physics simulation based on MATLAB / Simulink / Simscape
- Brushless motor driver board based on STM32 using CAN communication
- Motion control module (main control module) based on ESP32 and MPU6050
- Linux image transmission module based on ffmpeg / ffserver, using a low-coupling plug-and-play solution
- Android remote control APP with Bluetooth pairing support
Demo & Introduction Video: https://www.bilibili.com/video/BV1bP411k75b/
Mechanical Structure Renderings:
Simscape Multibody Simulation:
Robot Acceleration:
Fall Cushioning Performance:
Remote Control APP:
The entire robot project is divided into several parts, each located in different directories within the repository, with more detailed explanations inside. Readers can check them as needed:
solidworks: Mechanical structure design, including all parts and assembly model filesmatlab: Algorithm simulation, including model building, algorithm design, and simulation filesstm32-foc: Brushless motor driver board, including hardware design files and STM32 code projectesp32-controller: Motion control module, including hardware design files and ESP32 code projectlinux-fpv: Linux image transmission module, including related Shell scripts and Python scriptsandroid: Android remote control APP, including source code and precompiled installation package
Note: The image transmission module is an optional module. Removing it will not affect other functions but will significantly reduce the cost and complexity of the project.
| Item | Quantity | Unit Price | Total Price |
|---|---|---|---|
| 4010 Motor | 4 | ¥50.00 | ¥200.00 |
| 2804 Motor | 2 | ¥13.00 | ¥26.00 |
| Driver Board Components | 6 | ¥25.00 | ¥150.00 |
| Main Control Board Components | 1 | ¥20.00 | ¥20.00 |
| Li-Po Battery | 1 | ¥28.00 | ¥28.00 |
| 3D Printed Parts | - | Approx. ¥100.00 | Approx. ¥100.00 |
| Custom Acrylic | 1 | ¥5.00 | ¥5.00 |
| Bearings, Screws | - | Approx. ¥20.00 | Approx. ¥20.00 |
| Image Transmission Core Board (optional) | 1 | ¥150.00 | ¥150.00 |
| Camera (optional) | 1 | ¥20.00 | ¥20.00 |
| Total Cost (without image transmission) | - | - | ¥549.00 |
| Total Cost (with image transmission) | - | - | ¥719.00 |
Note: The above prices are the actual purchase prices of the author and are for reference only. Please refer to the respective module's description for some purchase links.