diff --git a/images/body/hub_lower.png b/images/body/hub_lower.png new file mode 100644 index 00000000..2bb289a6 Binary files /dev/null and b/images/body/hub_lower.png differ diff --git a/images/body/hub_lower_screws.png b/images/body/hub_lower_screws.png new file mode 100644 index 00000000..c5c55d39 Binary files /dev/null and b/images/body/hub_lower_screws.png differ diff --git a/images/head/hub_upper.png b/images/head/hub_upper.png new file mode 100644 index 00000000..6aa84197 Binary files /dev/null and b/images/head/hub_upper.png differ diff --git a/images/head/hub_upper_screws.png b/images/head/hub_upper_screws.png new file mode 100644 index 00000000..09602fb9 Binary files /dev/null and b/images/head/hub_upper_screws.png differ diff --git a/mechanical/body_assembly/3d_printed_parts/pvc_hub_lower.stl b/mechanical/body_assembly/3d_printed_parts/pvc_hub_lower.stl new file mode 100644 index 00000000..db3e0cff Binary files /dev/null and b/mechanical/body_assembly/3d_printed_parts/pvc_hub_lower.stl differ diff --git a/mechanical/body_assembly/README.md b/mechanical/body_assembly/README.md index 8953d3e6..5f4b9a22 100644 --- a/mechanical/body_assembly/README.md +++ b/mechanical/body_assembly/README.md @@ -14,7 +14,7 @@ The body is the housing of all the electronics for the rover. It is the attachme | Author/Creator | JPL | | -------------- | ------- | -| Cost without 3D printer | 240.38 | +| Cost without 3D printer | 253.28 | | Cost with 3D printer | 240.38 | | Date Added | 4/11 | | Group/Organization/School | JPL | @@ -73,12 +73,14 @@ To get the above parts from Sculpteo, go to Laser cutting and then upload these ### 4.1 Chassis -| Item | Ref | Qty | Image | Item | Ref | Qty | Image | +| Item | Ref | Qty | Image | Item | Ref | Qty | Image | | :--- | :-- | :-- | :---: | :--- | :-- | :-- | :---: | | Dual Side mount A | S17 | 4 | | #6-32x1/4" Button Head Screw | B1 | 16 | | | 4.5"x12" Aluminum Plate | S37 | 2 | | #6-32x3/8" Button Head Screw | B2 | 4 | | -| 1" PVC Clamp | S24 | 1 | | Allen Key Set | | | | +| 3D-printed PVC Clamp | S50 | 1 | | Allen Key Set | | | | | 9"x12" Aluminum Plate | S35A | 1 | | 5/16" Wrench | | | | +| #6-32x5/8" Button Head Screw | B4 | 6 | |#6 Washer| W1| 2| | +| #6-32 Heat set insert | I2 | 6 | | #### 4.1.1 Top panel @@ -97,20 +99,29 @@ Attach the 4.5x12 plates **S37** to the dual side mounts using screws **B1** |:-:| | Figure 3: Attach the side panels | +#### 4.1.3 Assmble the PVC clamping hub -#### 4.1.3 Attach the PVC clamping hub +* Insert the #6-32 Heat Set Inserts **I2** into the 3D-printed clamping hub **S50** in the locations shown in Figure 6. The inserts on the side of the clamp should go in from the left side as shown in Figure 4. +* Using washers W1, insert screws **B4** into clamp part of the clamping hub and screw part of the way into the brass inserts. Inserting these screws now simplifies inserting the PVC pipe later. -Attach the 1-inch PVC bore clamping hub **S24** to the top plate of the body using screws **B1** Use the location shown in Figure 4. + +| | +|:-:| +| Figure 4: Assemble PVC Clamping Hub | + +#### 4.1.4 Attach the PVC clamping hub + +Attach clamping hub **S50** to the top plate of the body using screws **B1** Use the location shown in Figure 5. | | |:-:| -| Figure 4: Attach the PVC clamp to top plate | +| Figure 5: Attach the PVC clamp to top plate | ### 4.2 Differential Pivot Block The differential pivot is used to transfer weight off of the wheel that is currently climbing to the other front wheel, allowing the rover to climb more easily. Additionally, it serves as a second contact point for the rover’s body such that it does not rotate freely about the cross rod. -| Item | Ref | Qty | Image | Item | Ref | Qty | Image | +| Item | Ref | Qty | Image | Item | Ref | Qty | Image | | :--- | :-- | :-- | :---: | :--- | :-- | :-- | :---: | | 0.5" Pillow Bearing Block | S11 | 2 | | #6-32x1" Button Head Screw | B6 | 4 | | | #6-32x1/4" Spacer | T1 | 8 | | Allen Key Set | D2 | | | @@ -119,11 +130,11 @@ The differential pivot is used to transfer weight off of the wheel that is curre #### 4.2.1 Mount the pillow bearing blocks -Using spacers **T1**, screws **B6**, and hex nut **B11**, mount the pillow blocks **S11** to the top of the body over the hole in the aluminum plate that you drilled earlier as shown in Figure 5. +Using spacers **T1**, screws **B6**, and hex nut **B11**, mount the pillow blocks **S11** to the top of the body over the hole in the aluminum plate that you drilled earlier as shown in Figure 6. | | |:-:| -| Figure 5: Mounting the pillow bloc | +| Figure 6: Mounting the pillow bloc | ### 4.3 Control Board PCB @@ -132,7 +143,7 @@ Using spacers **T1**, screws **B6**, and hex nut **B11**, mount the pillow block | Assembled Control Board PCB | E1 | 1 | | | #6-32x3/8" Button Head Screw | B2 | 4 | | -You may want to skip this step until the PCB is completed and tested and insert the PCB late +You may want to skip this step until the PCB is completed and tested and insert the PCB later. #### 4.3.1 Mount the PCB @@ -140,20 +151,20 @@ Mount the PCB **E1** to the top of the chassis using screws **B2**. Note the pos | | |:-:| -| Figure 6: Mounting the PCB | +| Figure 7: Mounting the PCB | | | |:-:| -| Figure 7: Mounting the PCB | +| Figure 8: Mounting the PCB | -Note the screw positions in Figure 7. You might not be able to get the screw circled in light blue in +Note the screw positions in Figure 8. You might not be able to get the screw circled in light blue in because of the PVC clamping hub. This is okay, install the other 3 circled in yellow. ### 4.4 Closing the body -| Item | Ref | Qty | Image | Item | Ref | Qty | Image | +| Item | Ref | Qty | Image | Item | Ref | Qty | Image | | :--- | :-- | :-- | :---: | :--- | :-- | :-- | :---: | | Dual Side Mount A | S17 | 12 | | Laser Cut Back Panel | S40 | 1 | | | #6-32x1/4" Button Head Screw | B1 | 28 | | Switch | E39 | 1 | | @@ -167,7 +178,7 @@ Mount Dual Side Mounts A **S17** using screws **B1** on the side plates in both | | |:-:| -| Figure 8: Dual Side Mount A locations | +| Figure 9: Dual Side Mount A locations | #### 4.4.2 Attach dual side mounts (2) @@ -175,7 +186,7 @@ Also attach Dual Side Mounts A **S17** using **B1** screws on the top plate, in | | |:-:| -| Figure 9: Dual Side Mount A (cont) | +| Figure 10: Dual Side Mount A (cont) | #### 4.4.3 Front and back panels @@ -183,7 +194,7 @@ Using screws **B1** attach the front and back laser cut panels to the chassis. | | |:-:| -| Figure 10: Front and Back Panels attached | +| Figure 11: Front and Back Panels attached | #### 4.4.4 Attach the switch and volt meter @@ -191,7 +202,7 @@ Take the Volt Meter **E38** and the Switch **E39** and attach them to the back p | | |:-:| -| Figure 11: Volt Meter/Switch Installation | +| Figure 12: Volt Meter/Switch Installation | #### 4.4.5 Attach the Battery Holder @@ -199,23 +210,23 @@ Take the 3D printed Battery holder **S41** and using a solder Iron at 460 degree | | |:-:| -| Figure 12: Installing heat set inserts| +| Figure 13: Installing heat set inserts| #### 4.4.6 Install the battery holders -Mount the Battery holders onto the body assembly using screws **B1** as shown in Figure 13. +Mount the Battery holders onto the body assembly using screws **B1** as shown in Figure 14. | | |:-:| -| Figure 13: Battery holder installation | +| Figure 14: Battery holder installation | #### 4.4.7 Build bottom plate assembly -Take the 9x12 Aluminum Plate **S35** and attach 6 dual side mount A **S17** along the edges as shown in Figure 14. Be sure to verify that the orientation of the dual side mounts **S17** matches the pictures. +Take the 9x12 Aluminum Plate **S35** and attach 6 dual side mount A **S17** along the edges as shown in Figure 15. Be sure to verify that the orientation of the dual side mounts **S17** matches the pictures. | | |:-:| -| Figure 14: Building the Bottom Panel | +| Figure 15: Building the Bottom Panel | #### 4.4.8 Attach the bottom plate @@ -223,10 +234,10 @@ Take the bottom plate assembly you constructed in the previous step and attach i | | |:-:| -| Figure 15: Attaching the Bottom Panel | +| Figure 16: Attaching the Bottom Panel | The Body Assembly is now Complete! | | |:-:| -| Figure 16: Completed Body Assembly | +| Figure 17: Completed Body Assembly | diff --git a/mechanical/head_assembly/3d_printed_parts/pvc_hub_upper.stl b/mechanical/head_assembly/3d_printed_parts/pvc_hub_upper.stl new file mode 100644 index 00000000..555f8c0e Binary files /dev/null and b/mechanical/head_assembly/3d_printed_parts/pvc_hub_upper.stl differ diff --git a/mechanical/head_assembly/README.md b/mechanical/head_assembly/README.md index edb9d729..e52c9294 100644 --- a/mechanical/head_assembly/README.md +++ b/mechanical/head_assembly/README.md @@ -13,7 +13,7 @@ The head assembly serves as the head and face of our rover. It houses a 16x32 fu | Author/Creator | JPL | | -------------- | ------- | -| Cost without 3D printer | 84.90 | +| Cost without 3D printer | 97.80 | | Cost with 3D printer | 84.90 | | Date Added | 4/11 | | Group/Organization/School | JPL | @@ -36,17 +36,17 @@ The head assembly serves as the head and face of our rover. It houses a 16x32 fu ## 2.3 Dependencies on Other Modules: * None + ## 2.4 Mechanical Interface/Attachments to Rover: - * 1/2 inch clamping hub to 1/2 inch aluminum rod on the body - * 1/2 inch aluminum rod to 1/2 inch clamping hub on rocker-bogie arms + * None ## 3. 3D Printing There are a few components that need to be 3D printed to make the head assembly. You can find the STL files necessary for these prints in the ”Mechanical/Head Assembly/3D Printed Parts” folder of the repository. - | | - | :--: | - | Figure 1 | +| | +| :--: | +| Figure 1: 3D Printed Parts | If you do not have a 3D printer there are a number of online 3D printing services available, an example of which can be found at: - [MakeXYZ](https://www.makexyz.com/) @@ -62,11 +62,11 @@ There is an acrylic plate which mounts the arduino into the head, as well as a b To get the above parts from Sculpteo, go to Laser cutting and then upload the .DXF files (make sure you select mm as units!). Hit Next. Make sure scale is set to 100%, change the material to Acrylic, set thickness to 1/8 inch, and then select whatever color you wish. ## 5. Machining/Fabrication - | Item | Ref | Qty | Image | - | :--- | :-- | :-- | :---: | - | 1" PVC Pipe | S29 | 1 | | - | Metal Hacksaw or Bandsaw | D4 | 1 | | - | Vice clamp or C clamps | D5 | 1 | | +| Item | Ref | Qty | Image | +| :--- | :-- | :-- | :---: | +| 1" PVC Pipe | S29 | 1 | | +| Metal Hacksaw or Bandsaw | D4 | 1 | | +| Vice clamp or C clamps | D5 | 1 | | ### 5.1 Cutting the PVC Pipe: @@ -75,80 +75,103 @@ To get the above parts from Sculpteo, go to Laser cutting and then upload the .D ## 6. Mechanical/Structural Assembly - | Item | Ref | Qty | Image | Item | Ref | Qty | Image | - | :--- | :-- | :-- | :---: | :--- | :-- | :-- | :---: | - | Bore Clamping Hub for 1" PVC Pipe | S24 | 1 | | #6-32 x 3/8" Button Head Screw | B2 | 4 | | - | PVC Pipe (Modified ) | S29A | 1 | | #4-40x 1/4" Button Head Screw| B8 | 12 | | - | Laser Cut Head Back Panel | S42 | 1 | | M2.5 x 6mm Socket Head Screw | B10 | 8| | - | 3D printed Head | S43 | 1 | | M3 x 6mm Socket Head Cap screw| B14 | 6 | | - | Laser Cut Arduino Plate | S44 | 1 | | Arduino Shield PCB | E2 | 1 | | - | #4-40 Heat set insert | I1 | 8 | | Arduino Uno| E24 | 1 | | - | M2.5 x 10mm Standoff| T10 | 4 | | LED Matrix | E37 | 1 | | - - - - +| Item | Ref | Qty | Image | Item | Ref | Qty | Image | +| :--- | :-- | :-- | :---: | :--- | :-- | :-- | :---: | +| 3D-printed Clamping Hub for 1" PVC Pipe | S24 | 1 | | #6-32 x 3/8" Button Head Screw | B2 | 4 | | +| PVC Pipe (Modified ) | S29A | 1 | | #4-40x 1/4" Button Head Screw| B8 | 12 | | +| Laser Cut Head Back Panel | S42 | 1 | | M2.5 x 6mm Socket Head Screw | B10 | 8| | +| 3D printed Head | S43 | 1 | | M3 x 6mm Socket Head Cap screw| B14 | 6 | | +| Laser Cut Arduino Plate | S44 | 1 | | Ardiuno Shield PCB |E2 | 1 | | +| #4-40 Heat set insert | I1 | 8 | | #6-32 Heat set insert | I2 | 6 | | +| Arduino Uno| E24 | 1 | | #6-32 x 5/8" Button Head Screw | B4| 2 | | +| M2.5 x 10mm Standoff| T10 | 4 | | LED Matrix | E37 | 1 | | +|#6 Washer| W1| 2| ||||| -### 6.1 Assemble the Arduino Stack +## 6.1 Assemble the Arduino Stack Begin by stacking together the Arduino Uno E24, Arduino Shield E2, Standoffs T10, Screws B10, and Arduino Plate S44 and fastening them as shown in figure 2 & figure 3. - | | | - |:-:|:-:| - | Figure 2 | Figure 3 | +| | | +|:-:|:-:| +| Figure 2 | Figure 3 | -### 6.2 Inserting the Heat set inserts +## 6.2 Inserting the Heat set inserts + +### 6.2.1 3D-printed head Insert the # 4-40 Heat Set Inserts I1 into the 3D printed head (using a Solder Iron at 460 degrees F) in the locations shown in Figures 4 and 5. For more information on using heat set inserts, see: - [Heat set insert tutorial](https://www.lulzbot.com/learn/tutorials/heat-set-inserts-tips-and-tricks) - - | | | - |:-:|:-:| - | Figure 4 | Figure 5 | - | | | - |:-:|:-:| - | Figure 6 | Figure 7 | +| | | +|:-:|:-:| +| Figure 4 | Figure 5 | + +| | | +|:-:|:-:| +| Figure 6 | Figure 7 | + +### 6.2.2 3D-printed PVC clamping hub + +* Insert the #6-32 Heat Set Inserts I2 into the 3D-printed clamping hub S51 in the locations shown in Figure 8. The inserts on the side of the clamp should go in from the left side as shown in Figure 8. + +| | +| :------------------------------------------------: | +| Figure 8 | -### 6.3 Mount the PVC clamping hub -Using screws B2, attach the PVC clamping hub to the bottom of the 3D printed head. +## 6.3 Assemble and Mount the PVC clamping hub - | | | - |:-:|:-:| - | Figure 8 | Figure 9 | +### 6.3.1 -### 6.4 Attach PVC Pipe +Using washers W1, insert screws B4 into clamp part of the clamping hub and screw part of the way into the brass inserts. Inserting these screws now simplifies inserting the pipe later. + +| | +| :------------------------------------------------: | +| Figure 9 | + + + +### 6.3.2 + +Using screws B2, attach the completed PVC clamping hub to the bottom of the 3D printed head. + +| | | +|:-:|:-:| +| Figure 10 | Figure 11 | + +## 6.4 Attach PVC Pipe Slot the PVC pipe S29 into the clamping hub and then tighten down the screws on the clamping hub - | | - |:-:| - | Figure 10 | +| | +|:-:| +| Figure 12 | -### 6.5 Attaching the LED Matrix +## 6.5 Attaching the LED Matrix Attach the LED Matrix E37 to the front of the head assembly using Screws B14. - | | | - |:-:|:-:| - | Figure 11 | Figure 12 | +| | | +|:-:|:-:| +| Figure 13 | Figure 14 | -### 6.6 Mount the Arduino Stack -Take the Arduino Plate assembly and mount it using screws B8 to the heat set inserts on the posts inside the head as shown in Figure 10 +## 6.6 Mount the Arduino Stack - | | | - |:-:|:-:| - | Figure 13 | Figure 14 | +Take the Arduino Plate assembly and mount it using screws B8 to the heat set inserts on the posts inside the head as shown in Figure 15 -### 6.7 Back Plate Attachment +| | | +|:-:|:-:| +| Figure 15 | Figure 16 | + +##6.7 Back Plate Attachment Attach the Laser Cut Back Plate S42 onto the back of the head assembly using screws B2. - | | | - |:-:|:-:| - | Figure 15 | Figure 16 | +| | | +|:-:|:-:| +| Figure 17 | Figure 18 | + The head is now finished! diff --git a/parts_list/master_parts_list_raw.csv b/parts_list/master_parts_list_raw.csv index bd2cd1f3..4e94d3f7 100644 --- a/parts_list/master_parts_list_raw.csv +++ b/parts_list/master_parts_list_raw.csv @@ -68,20 +68,20 @@ Absolute Encoder,E47,"1/8 inch, 10 Bit Analog, Sleeve Bushing (N)",US Digital,ht USB to TTL Serial Adapter,E48,,Amazon,https://www.amazon.com/JBtek-WINDOWS-Supported-Raspberry-Programming/dp/B00QT7LQ88/ref=sr_1_4?keywords=usb+to+ttl+serial+cable&qid=1556583541&s=gateway&sr=8-4,1,1,1,$6.99 ,$6.99,Electrical Build "1.5"" U Channel",S1,585440,ServoCity,https://www.servocity.com/1-50-channel,1,2,2,$2.99 ,$5.98,Mechanical Integration "0.25"" Pillow Bearing Block",S10,535110,ServoCity,https://www.servocity.com/0-250-1-4-bore-flat-bearing-mount,1,8,8,$5.99 ,$47.92,Corner Steering -"0.5"" Pillow Block",S11,535118,ServoCity,https://www.servocity.com/0-500-1-2-bore-flat-bearing-mount,1,6,6,$6.99 ,$41.94,"Body, Rocker-Bogie" +"0.5"" Pillow Block",S11,535118,ServoCity,https://www.servocity.com/0-500-1-2-bore-flat-bearing-mount,1,6,6,$6.99 ,$41.94,Body "0.25"" Face Tapped Clamping Hub",S12,545588,ServoCity,https://www.servocity.com/770-clamping-hubs#348=95,1,4,4,$5.99 ,$23.96,Wheel Assembly -"0.5"" Face Tapped Clamping Hub",S13,545600,ServoCity,https://www.servocity.com/770-clamping-hubs#348=107,1,3,3,$5.99 ,$17.97,"Differential Pivot, Rocker-Bogie" +"0.5"" Face Tapped Clamping Hub",S13,545600,ServoCity,https://www.servocity.com/770-clamping-hubs#348=107,1,3,3,$5.99 ,$17.97,Differential Pivot 4mm Face Tapped Clamp Hub,S14,545608,ServoCity,https://www.servocity.com/770-clamping-hubs#348=96,1,6,6,$5.99 ,$35.94,Wheel Assembly Stainless Steel D-Shaft,S15,634070,ServoCity,https://www.servocity.com/0-250-1-4-stainless-steel-d-shafting#371=276,1,4,4,$1.79 ,$7.16,Corner Steering 0.5 x 3Ft Aluminum Rod,S16,89965K364,McMaster,https://www.mcmaster.com/89965K364,1,1,1,$25.74 ,$25.74,Differential Pivot Dual Side mount A,S17,585470,ServoCity,https://www.servocity.com/90-dual-side-mount,2,16,8,$5.99 ,$47.92,Body -"0.5"" x 4"" aluminum tube",S18,635254,ServoCity,https://www.servocity.com/0-500-1-2-aluminum-tubing#371=455,1,5,5,$2.19 ,$10.95,"Differential Pivot, Mechanical Integration" +"0.5"" x 4"" aluminum tube",S18,635254,ServoCity,https://www.servocity.com/0-500-1-2-aluminum-tubing#371=455,1,5,5,$2.19 ,$10.95,Differential Pivot "0.5"" x 2"" aluminum tube",S19,635252,ServoCity,https://www.servocity.com/0-500-1-2-aluminum-tubing#371=246,1,1,1,$1.59 ,$1.59,Mechanical Integration "3"" Channel",S2,585442,ServoCity,https://www.servocity.com/3-0-channel,1,18,18,$3.99 ,$71.82,"Corner Steering, Rocker-Bogie, Wheel Assembly" ".5""D Bore Bottom Tapped Clamping Mount",S20,585546,ServoCity,https://www.servocity.com/1-2-bore-bottom-tapped-clamping-mount,1,2,2,$5.99 ,$11.98,Differential Pivot 5 Hole Aluminum Beam,S21,585404,ServoCity,https://www.servocity.com/1-54-aluminum-beam,2,8,4,$2.39 ,$9.56,Differential Pivot -"0.5"" D Collar Clamp",S22,6157K14,ServoCity,https://www.servocity.com/aluminum-clamp-collars#368=229,1,12,12,$4.99 ,$59.88,"Mechanical Integration, Rocker-Bogie" -"Bore Clamping Hub for 1"" PVC",S24,545512,ServoCity,https://www.servocity.com/1-315-pvc-clamp-hub-b,1,2,2,$9.99 ,$19.98,"Body, Head Assembly" +"0.5"" D Collar Clamp",S22,6157K14,ServoCity,https://www.servocity.com/aluminum-clamp-collars#368=229,1,12,12,$4.99 ,$59.88,Mechanical Integration +3D Printed PVC Clamping Hub (top),S24,,Makexyz,https://www.makexyz.com/,1,1,1,$12.90 ,$12.90 ,Head Assembly 25mm Bore Side Tapped Clamping Mount,S25,545680,ServoCity,https://www.servocity.com/25mm-bore-tube-clamp,1,6,6,$6.99 ,$41.94,Wheel Assembly Plain Bore Gear,S26,RHA32-36-48,ServoCity,https://www.servocity.com/32-pitch-acetyl-hub-gears-0-1875-face#199=15,1,4,4,$5.20 ,$20.80,Wheel Assembly Shaft Mount Pinion Gear (16 Tooth),S27,KPL32-32-16,ServoCity,https://www.servocity.com/0-125-1-8-bore-32p-shaft-mount-pinion-gears-steel#199=100,1,4,4,$5.99 ,$23.96,Corner Steering @@ -142,3 +142,4 @@ GoBilda 23mm threaded plate,S46,2803-0023-0023,GoBilda,https://www.gobilda.com/2 GoBilda Pattern Adaptor,S48,1206-0016-0004,GoBilda,https://www.gobilda.com/1206-series-pattern-adaptor-16-4/,1,12,12,$4.99 ,$59.88 ,Wheel Assembly 6mm Bore Clamping D-Hub 0.770in,S49,545618,ServoCity,https://www.servocity.com/6mm-bore-clamping-d-hub-tapped-0-770-pattern/,1,6,6,$7.99 ,$47.94 ,Wheel Assembly 9 x 12 Bottom Plate,S51,,Sculpteo,https://www.sculpteo.com/,1,1,1,$11.43 ,$11.43 ,Body +