Cozmars V2 - Modifications

thingiverse

Created a very preliminary repo for my software implementation: https://github.com/BillMerryman/Cozmars Except where otherwise noted, I implemented all of these modifications into my current make of this project. body-MotorDriverRecessExpanded.stl - I modified the retainer in the bottom of the body to better fit the motor driver. I also elevated it so the battery sits level, and to accommodate extending the motor cover to act as a surface for the battery to lay on. I didn't implement this into my current iteration. body-EmaxAndMotorDriverRecessExpanded.stl - Same as previous, but lift motor holes now accommodate Emax ES08MA-II servos, which are better! head_servo_layer-ForServoWithRemovedTab.stl - I cut the leading tab off of the servo to free up some more room in the head to try to help improve movement. head_servo_layer-EmaxServoWithRemovedTab.stl - Same as previous, but accommodates Emax ES08MA-II servos, which are better. servo_hold-WiderAndTighter.stl - I also modified this to hold the servo more snug, especially with the leading tab removed. servo_hold-Emax.stl - Same as previous, but now accommodate Emax ES08MA-II servos, which are better! head-ScreenInverted.stl - I modified the location of the retainer clip mounts so I could mount the screen upside down. For the Adafruit screen I am using, this helped get the wires out of the way of the camera. Also, the camera mounts more naturally upside down in relation to the way the Pi is mounted. motor_cover-WithBatterySupport.stl - Added a strut to help better support battery. screen_hold-Adafruit.stl - Since the Adafruit screen has an SD card holder, this clip had to be elevated a bit. ScreenSpacer.stl - With the screen inverted, this was nominally necessary to make sure it stays sitting properly over the camera mount. It isn't strictly needed, just a personal preference. lift_servo_seperator-WithWireChannel.stl - There was a lot of play between the lift arm servos, so I expanded it a bit to give them less wiggle. This also gave me a place to route wires from back to front. lift_servo_seperator-WithWireChannelEmax.stl - Same as previous, but to accommodate Emax ES08MA-II servos, which are better. rpi_layer-WithTightenedScrewholes.stl - Just tightened the screw holes a bit to eliminate need for nuts. This now works well with M2.5 screws. SonarRetainer.stl - since I didn't implement the ground sensors, this was necessary to hold the sonar range detector snug to the front. speaker_hold-ForAliexpressSpeaker-WithAmpClip.stl - I am also using an Adafruit speaker amp, and a speaker I got from Aliexpress. Making the speaker clip like this, I was able to mount the amp along with it in one little package, which also saves some room in the body and keeps it from floating. BackBox.stl and BackBoxCover.stl - I designed the back box to attach to the port on the lower back of the body. I built a variation that has power distributed from a Powerboost 1000 charger board. This box has a slot for an on/off switch, and a port to expose the micro USB charger jack on the power board. The board provides 5.1V and battery level power out, so I am routing battery power to the wheel motors and 5.1 to the Pi, audio amp, and servo power bus, while routing 3.2 from the Pi to the screen, distance sensor, mic, and control power on the servo controller. I skipped the IR ground sensors and touch sensor.