Wheel-leg Infantry轮腿步兵
Wheel-leg infantry I led as mechanical designer — Best Knight, RM2025.我主导机械设计的串联腿步兵 — RM2025 最佳骑士奖。
This was my flagship build — a wheel-leg infantry robot I owned end to end as the team’s mechanical lead, and the project that earned the “Best Knight” award of the RM2025 season. The idea is to get the best of two worlds: roll fast and smooth like a wheeled robot on flat ground, then unfold articulated legs to climb stairs, duck through tunnels, and scramble up slopes that stop ordinary chassis cold.
这是我最具代表性的作品——一台由我作为机械负责人端到端完成的轮腿步兵机器人，也是为战队赢得 RM2025 赛季 “最佳骑士” 奖的项目。它的核心思路是兼顾两种形态：平地上像轮式机器人一样高速平稳行进，需要时则展开关节腿，去攀爬台阶、钻过隧道、冲上让普通底盘望而却步的陡坡。
How it moves. The articulated legs are cut from 12 mm glass-fiber-reinforced composite and driven by four MG8016E hip joints, with a controlled 800 mm extension range; the wheels run M3508 motors through a custom 19:1 gearbox (~482 RPM). Holding a ~24 kg robot upright on its legs would normally cook the motors, so I solved the statics in MATLAB and offloaded the weight onto a 300 N air spring — dropping standing motor output to roughly 2 N·m. The result clears two-level (20 cm) stairs, tunnels, and 43° slopes, and rights itself from almost any tip-over with about 80% success.
How it fights. A goose-neck DM4310 turret keeps vision auto-aim above a 60% hit rate, while a central feeder holds 800+ rounds and pre-positions them in three layers to sustain a steady 25 Hz firing rate. Top speed stays above 2 m/s with 20+ minutes of endurance. The complete mechanical drawings and CAD are open-sourced for the community.
怎么动：关节腿由 12 mm 玻纤增强复合板加工而成，四个 MG8016E 髋关节驱动，伸展行程控制在 800 mm；轮组用 M3508 电机经自研 19:1 减速箱输出（约 482 RPM）。让一台约 24 kg 的机器人单靠腿站立通常会烧电机，于是我在 MATLAB 里求解静力学，把重量卸载到一根 300 N 气弹簧上——将站立时电机输出降到约 2 N·m。最终它能通过两级（20 cm）台阶、隧道与 43° 斜坡，并能从几乎任意角度的倾倒中自救，成功率约 80%。
怎么打：鹅颈式 DM4310 云台让视觉自瞄命中率保持在 60% 以上；中置供弹系统容弹 800+ 发，通过三层预定位维持稳定 25 Hz 射频。最高速度保持在 2 m/s 以上，续航 20 分钟以上。完整机械图纸与 CAD 已向社区开源。
