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边石坤 / 基于openharmony的麦轮电驱平台

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README
Apache-2.0

基于openharmony的麦轮电驱平台

团队成员及作品风采链接

边石坤, 岳扬, 高斌光,
B站视频链接:https://www.bilibili.com/video/BV1NQ4y1d7Bt

项目应用场景介绍

此作品的创意将用来参加openharmony成长计划学生挑战赛的活动。
本作品将以基于openharmony系统开发的应用和设备提出解决方案,
项目所解决的目标为:
优质教育、体面工作和经济增长、可持续城市和建设
目标冲击一等奖。

数字模型

特别说明

本作品的设计创新还停留在模型组装及可行性试验阶段,
不具备成为产品级项目的水准。
但其所涉及的领域较为丰富且全面。

软件架构

作品所涉及的关键技术及设计理念解读

  1. 硬件结构:三维建模、3D打印、激光切割
  2. 控制系统:openharmony南向设备开发、PCB设计
  3. 上位交互:openharmony北向应用开发、arkUI前端
  4. 后台处理:Particle Ability开发

车身设计

主要标准件选型

该模型的动力元件选择的是:42_0.52NM 的步进电机。 输出轴直径 8mm

步进电机

所以为了保证与电机轴配合,麦克纳姆轮采用的是:外径 75mm;不带键槽联轴器;孔径8mm 的样式

麦轮

为了保证步进电机和结构支撑的连接,电机支架在这里被选用

电机支架

结构支撑创意

该支撑结构具有以下三项功能:

  • 固定电动机驱动模块儿
  • 对排线线束进行梳理
  • 保证驱动模组与大梁的结合

结构支撑

电池支座创新

该支座具备动力电池分接的能力:左侧的T型插口公头是输入端;右侧T型插母头是输出端,可为其他接入机构的正常工作提供电源。
与此同时,支座上还设计了总电源开关,为系统的安全运行提供保障。
另外,恰如其分的配合选择以及3D打印件的层叠结构,使得电池可以十分方便地实现卡入、取出。

电池支座

控制系统软硬件

  • 驱动程序设计

  • 通信逻辑搭建

这块板子用来对小熊派nano的板子接口进行转接 ~

E66设计板

底板上具备电源分配,信号线分接等功能

底板设计

以上两块儿板子之间使用 2 x 6 的排线连接

板子图

开发板引脚设计规划

com : V3.3
EN_L : IO 02   EN_R : IO 09
     FL     FB
STP   IO 14   IO 05
DIR   IO 07   IO 03

STP   IO 13   IO 06
DIR   IO 08   IO 04
     BL    BR
(  以上规划表中:F :front;L :left;R : right; B : back;  )

北向应用

开发设计详解

项目产出

● 独立设计制作装配的完整模型一部
● 适配模型功能及空间的控制、驱动电路PCB
● 一组交互协作的上位机程序
● 项目设计思路和关键技术点描述文档若干
(以贴子的形式发表在各大技术社区)
51cto开源基础软件社区:https://ost.51cto.com/column/76
● 开发设计历程的记录视频一套

作品呈现形式

实物模型作品 + 基于arkUI开发的且运行在openharmony开发板上的北向交互应用

实景图

使用说明及复现途径

  1. xxxx
  2. xxxx
  3. xxxx

参与贡献

  1. Fork 本仓库
  2. 新建 Feat_xxx 分支
  3. 提交代码
  4. 新建 Pull Request
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简介

此作品的创意将用来参加openharmony成长计划学生挑战赛的活动。 本作品将以基于openharmony系统开发的应用和设备提出解决方案, 项目所解决的目标为: 优质教育、体面工作和经济增长、可持续城市和建设 目标冲击一等奖。 展开 收起
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