forked from lauri/sumorobot-frame
426 lines
12 KiB
OpenSCAD
426 lines
12 KiB
OpenSCAD
/* Error tolerance for cutouts */
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T = 0.2;
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/* Arc smoothness */
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R = 100;
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/* PCB dimensions */
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PCB_WIDTH = 66.5;
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PCB_DEPTH = 66.5;
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PCB_THICKNESS = 1.6;
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PCB_OFFSET = 6;
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/* Robot dimensions */
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THICKNESS = 3;
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WIDTH = 100;
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HEIGHT = 90;
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DEPTH = 100;
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OFFSET = 34;
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TILT = -8;
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/* Ultrasonic sensor parameters */
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ULTRASONIC_SENSOR_PLACEMENT = 47;
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ULTRASONIC_SENSOR_SPAN = 26.5;
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ULTRASONIC_SENSOR_HOLE = 16;
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/* Line sensor parameters */
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LINE_SENSOR_PLACEMENT = 13.5;
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LINE_SENSOR_HOLES = 3;
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LINE_SENSOR_SPAN = 38;
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/* How far from eachother servo mount surfaces are placed */
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SERVO_AXLE_LENGTH = 58;
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COVER_WIDTH = 70;
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COVER_HEIGHT = 76;
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/* Servo parameters */
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SERVO_MOUNT_PLACEMENT = 65;
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SERVO_MOUNT_OFFSET = 33.5;
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/* Magnet parameters */
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MAGNET_HEIGHT = 0.8;
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MAGNET_DIAMETER = 5;
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/* Show placeholders for battery, wheels, PCB, etc */
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DEBUG = false;
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/* Helper function for mirror-copying object */
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module mirror_copy() {
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children();
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mirror() {
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children();
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}
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}
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/* Mount holes for servos */
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module mount_hole() {
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cylinder(h = 100, d = LINE_SENSOR_HOLES + T, $fn = R);
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}
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/* Standard servo cutout helper */
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module servo_cutout() {
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translate([-34.5, 5, 0]) mount_hole();
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translate([-34.5, -5, 0]) mount_hole();
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translate([15, 5, 0]) mount_hole();
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translate([15, -5, 0]) mount_hole();
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translate([-31, -10, 0]) cube([40 + T * 2 + 2, 20 + T * 2, 100]);
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}
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module face() {
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difference() {
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union() {
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/* Front face */
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cube([WIDTH / 2, HEIGHT * 2, THICKNESS]);
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/* Ultrasonic sensor mount */
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rotate([TILT, 0, 0]) {
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translate([ULTRASONIC_SENSOR_SPAN / 2, ULTRASONIC_SENSOR_PLACEMENT, 0]) {
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cylinder(h = 20, d = ULTRASONIC_SENSOR_HOLE + THICKNESS, $fn = R);
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}
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}
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}
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/* Line following sensor mounting holes */
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translate([0, LINE_SENSOR_PLACEMENT, -T]) {
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translate([LINE_SENSOR_SPAN, 0, 0]) {
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cylinder(h = THICKNESS + T * 2, d2 = LINE_SENSOR_HOLES + T, d1 = LINE_SENSOR_HOLES * 2 + T, $fn = R);
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}
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cylinder(h = THICKNESS + T * 2, d2 = LINE_SENSOR_HOLES + T, d1 = LINE_SENSOR_HOLES * 2 + T, $fn = R);
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}
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/* Ultrasonic sensor cutout */
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rotate([TILT, 0, 0]) {
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translate([0, ULTRASONIC_SENSOR_PLACEMENT, 0]) {
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translate([ULTRASONIC_SENSOR_SPAN / 2, 0, -1]) {
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cylinder(h = 100, d = ULTRASONIC_SENSOR_HOLE + T, $fn = R);
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}
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translate([0, 0, 15]) {
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cube([ULTRASONIC_SENSOR_SPAN / 2, ULTRASONIC_SENSOR_SPAN / 2, 30]);
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}
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}
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}
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}
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}
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module frame() {
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/* Front face to top face support arcs */
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rotate([0, 90, 0]) {
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translate([-90, 0, -WIDTH / 2]) {
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difference() {
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cylinder(d = 300, h = T + WIDTH/2 - COVER_WIDTH/2, $fn = R);
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translate([0, 0, -THICKNESS])
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cylinder(d = 176, h = WIDTH-COVER_WIDTH, $fn = R);
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/* Clear out line sensor holes */
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cube([200, 30, 20]);
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translate([-200, -200, -1]) {
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cube([200, 400, 20]);
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}
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}
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}
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}
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difference() {
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translate([-COVER_WIDTH / 2, HEIGHT - OFFSET, 0]) {
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/* PCB compartment walls */
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cube([THICKNESS, OFFSET, DEPTH]);
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/* PCB rails */
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translate([0, OFFSET - PCB_OFFSET - THICKNESS * 3, 0]) {
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cube([6, PCB_OFFSET + THICKNESS * 3, DEPTH]);
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}
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}
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/* PCB cutout */
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translate([-PCB_WIDTH / 2, HEIGHT - 9, DEPTH - PCB_DEPTH - THICKNESS + T]) {
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cube([PCB_WIDTH + T, PCB_THICKNESS + T, PCB_DEPTH]);
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translate([0, -PCB_THICKNESS, -2]) {
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cube([PCB_WIDTH + T, PCB_THICKNESS + T, PCB_DEPTH]);
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}
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}
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}
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/* Servo mounting walls */
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translate([-SERVO_AXLE_LENGTH / 2, 0, 0]) {
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cube([THICKNESS, HEIGHT - OFFSET, DEPTH]);
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}
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rotate([90, 0, 0]) {
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/* Bottom face */
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translate([0, 0, -HEIGHT + COVER_HEIGHT]) {
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cube([SERVO_AXLE_LENGTH / 2, DEPTH, THICKNESS]);
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}
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/* Bottom support columnns */
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translate([SERVO_AXLE_LENGTH / 2 - 12, 0, -HEIGHT + COVER_HEIGHT - 4]) {
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cube([10, DEPTH, 18]);
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}
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/* Battery compartment separator */
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translate([0, 0, -HEIGHT + OFFSET]) {
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difference() {
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cube([COVER_WIDTH / 2, DEPTH, THICKNESS]);
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translate([0, 0, -T]) {
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cube([SERVO_AXLE_LENGTH / 2, 20, THICKNESS + T * 2]);
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translate([0, 20, 0]) {
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/* Arc to ease 3D printing */
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cylinder(h = THICKNESS * 2, d = SERVO_AXLE_LENGTH - THICKNESS * 2, $fn = R);
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translate([0, 80, 0])
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cylinder(h = THICKNESS * 2, d = SERVO_AXLE_LENGTH - THICKNESS * 2, $fn = R);
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}
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}
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}
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}
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}
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/* Top face */
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translate([0, HEIGHT - THICKNESS, 0]) {
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cube([WIDTH / 2, THICKNESS, DEPTH]);
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}
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}
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module half() {
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difference() {
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union() {
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face();
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difference() {
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rotate([TILT, 0, 0]) {
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frame();
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}
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/* Line following sensor wires */
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translate([0, 32, THICKNESS]) {
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rotate([0, -90, 0]) {
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cylinder(d = 26, h = 30, $fn = R);
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}
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rotate([90, 0, 0]) {
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cylinder(d = 26, h = 100, $fn = R);
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}
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}
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rotate([TILT]) {
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rotate([0, -90, 0]) {
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/* Bottom arc */
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translate([50, -86, -50]) {
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cylinder(d = 195, h = 100, $fn = R);
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}
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/* Servo mount */
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translate([SERVO_MOUNT_PLACEMENT, SERVO_MOUNT_OFFSET, 0]) {
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servo_cutout();
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}
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}
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}
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}
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}
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/* Front face cutoff */
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translate([-100, -100, -100]) {
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cube([200, 300, 100]);
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}
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/* Bottom face cutoff */
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translate([-100, -100, -100]) {
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cube([300, 100, 300]);
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}
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/* Top face cutoff */
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rotate([TILT, 0, 0]) {
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translate([-100, HEIGHT, -100]) {
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cube([200, 200, 200]);
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}
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translate([-COVER_WIDTH / 2 - T, HEIGHT - COVER_HEIGHT - THICKNESS, DEPTH - THICKNESS]) {
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cube([COVER_WIDTH + T, 200, 200]);
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}
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}
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}
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}
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module magnet_hole() {
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cylinder(d = MAGNET_DIAMETER + T, h = MAGNET_HEIGHT + T, $fn = R);
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}
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module magnet_holes() {
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mirror_copy() {
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/* Top holes */
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translate([+COVER_WIDTH / 2 - MAGNET_DIAMETER / 2 - 0.5, HEIGHT - 3, -MAGNET_HEIGHT]) {
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magnet_hole();
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}
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/* Bottom holes */
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translate([SERVO_AXLE_LENGTH / 2 - MAGNET_DIAMETER / 2 - 0.5, HEIGHT - COVER_HEIGHT + MAGNET_DIAMETER / 2 - THICKNESS + 0.5, -MAGNET_HEIGHT]) {
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magnet_hole();
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}
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}
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}
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module sumorobot() {
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difference() {
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mirror_copy() {
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half();
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}
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rotate([TILT, 0, 0]) {
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translate([0, 0, DEPTH - THICKNESS]) {
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magnet_holes();
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}
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}
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}
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}
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module cover() {
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translate([0, 100, 0]) {
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difference() {
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union() {
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translate([-27, COVER_HEIGHT-20, 0])
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cube([35,12,THICKNESS*2]);
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mirror_copy() {
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// Battery/servo compartment cover
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translate([0, 0, 0]) {
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cube([SERVO_AXLE_LENGTH / 2, COVER_HEIGHT, THICKNESS]);
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}
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// PCB compartment cover
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translate([0, COVER_HEIGHT - OFFSET, 0]) {
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cube([COVER_WIDTH / 2, OFFSET + THICKNESS, THICKNESS]);
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}
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// PCB locking mechanism
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translate([PCB_WIDTH/2-T-6, COVER_HEIGHT-6, 0]) {
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cube([6, PCB_THICKNESS-T, THICKNESS+3*PCB_THICKNESS]);
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cube([PCB_THICKNESS, 5, THICKNESS+3*PCB_THICKNESS]);
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}
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}
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}
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translate([0, COVER_HEIGHT - HEIGHT + THICKNESS, THICKNESS]) {
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magnet_holes();
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}
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translate([-COVER_WIDTH/2+THICKNESS-0.5, COVER_HEIGHT+THICKNESS-0.5-PCB_THICKNESS, -T]) {
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translate([10.7, -13.1, 0]) {
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cylinder(d2=5, d1=5+THICKNESS, h=THICKNESS+T*2, $fn=R);
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cylinder(d=5, h=10, $fn=R);
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}
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translate([36.2, -13.1, 0]) cylinder(d=5, h=THICKNESS*3+T*2, $fn=R);
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translate([17.8-T*2, -19.46, 0]) cube([12.1+T*4, 10.5+T*4, 20]);
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}
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}
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}
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}
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module plow_hole() {
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translate([0, 0, -T])
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cylinder(d1=LINE_SENSOR_HOLES+T, d2=LINE_SENSOR_HOLES*3, h=THICKNESS+T+T, $fn=R);
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translate([0, 0, THICKNESS]) {
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cylinder(d=LINE_SENSOR_HOLES*3, h=WIDTH, $fn=R);
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}
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}
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module plow() {
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translate([0, -40, 0]) {
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mirror_copy() {
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difference() {
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rotate([TILT, 0, 0]) {
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cube([WIDTH/2, LINE_SENSOR_PLACEMENT*2-6, 50]);
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}
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rotate([-TILT, 0, 0])
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translate([-T, LINE_SENSOR_PLACEMENT*2-6, -6])
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cube([100, 100, 100]);
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translate([-T, 0, -100]) {
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cube([100, 100, 100]);
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}
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translate([0, LINE_SENSOR_PLACEMENT-3]) {
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translate([LINE_SENSOR_SPAN, 0]) {
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plow_hole();
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}
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plow_hole();
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}
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translate([0, -1, 50]) {
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rotate([-90, 0, 0]) {
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cylinder(d=WIDTH-10, h=50, $fn=R);
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}
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}
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}
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}
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}
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}
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sumorobot();
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cover();
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plow();
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if (DEBUG) {
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color([1, 0, 0]) {
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rotate([TILT, 0, 0]) {
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rotate([90, 0, 0]) {
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/* PCB board mockup */
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translate([0, 0, -HEIGHT + PCB_OFFSET + T]) {
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translate([-PCB_WIDTH / 2, DEPTH - PCB_DEPTH, 0]) {
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cube([PCB_WIDTH, PCB_DEPTH + 5, 1.6]);
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}
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translate([-PCB_WIDTH / 2 + 5, DEPTH - PCB_DEPTH, 0]) {
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cube([PCB_WIDTH - 10, PCB_DEPTH - 5, 20]);
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}
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}
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/* Battery mockup */
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translate([-25, 30, -24]) {
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translate([0, 0, 0]) {
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cube([50, 60, 5.5]);
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}
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translate([10, 0, 0]) {
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cube([30, 50, 10]);
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}
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}
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}
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}
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translate([WIDTH / 2 + 28 / 2, HEIGHT - 47, 0]) {
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cylinder(h = 12, d = 15, $fn = R);
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}
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/* Wheel mockups */
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rotate([TILT]) {
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rotate([0, -90, 0]) {
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translate([SERVO_MOUNT_PLACEMENT, SERVO_MOUNT_OFFSET, SERVO_AXLE_LENGTH/2 + 10]) {
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difference() {
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cylinder(d=70, h=11);
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cylinder(d=3, h=12);
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}
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}
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}
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}
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/* Line sensor mockups */
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difference() {
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translate([0, LINE_SENSOR_PLACEMENT - 5.2, THICKNESS]) {
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translate([WIDTH / 2 - (+12 + 8.9), 0, 0]) cube([17.8, 15.2, 5.2]);
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translate([-8.9, 0, 0]) cube([17.8, 15.2, 5.2]);
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translate([-WIDTH / 2 + 12 - 8.9, 0, 0]) cube([17.8, 15.2, 5.2]);
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}
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cylinder(d = 3, h = 20, $fn = R);
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translate([38, 0, 0]) cylinder(d = 3, h = 20, $fn = R);
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}
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}
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}
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