Micro-Rover for the Raspberry Pi Zero

thingiverse

Micro-Rover for Raspberry Pi Zero A 3D printable chassis that combines a Raspberry Pi Zero with two 2-channel motor-drivers and aux outputs to control four separate motors. Each motor is separately steered using a micro-servo, making it possible to execute turns and maneuvers similar to those achievable with mecanum wheels. The complete chassis consists of two sub-chassis assemblies joined together with Lego Technic beams. Since it's compatible with Lego Technic parts, it can be integrated into more complex designs using Lego Technic components. Print Settings Printer Brand: Wanhao Printer: Wanhao Duplicator i3 Plus Rafts: No Supports: No Resolution: 0.1mm Infill: 20% Notes Note 1: This was printed on a WanHao 5DS Mini using PLA with a layer thickness of 0.1mm. The Tyres must be printed using NinjaFlex or similar material. They were not able to print these on the Wanhao 5DS Mini due to the type of extruder, so please check that you're able to print Ninjaflex or have access to someone who can before trying to recreate this Thing. Post-Printing Assembly Instructions Assembly is relatively easy after printing, with just a few readily available nuts & bolts. To assemble the full Micro-Rover demonstrated in this project, you'll need: For the controller: 1 x Raspberry Pi Zero plus WiFi or Raspberry Pi Zero W; 2 x PiZ-Moto 2-channel motor controller or any similar motor controller(s) that supports a total of four small motors; For the rover assembly: 4 x 6v 50:1 micro geared motors; 4 x Tower-Pro SG9 micro servos; 1 x 4-cell AA battery holder; (Note that the longer 2 x 4 cell design works better here as it conveniently just hangs under the chassis); 4 x AA batteries; 4 x M1.6 x 6mm slotted cheese-head screw (Just 1 is used to secure each micro-geared motor into the motor assembly) 4 x M3 x 20 pan-head machine screw (for attaching the SubChassisTop to SubChassisBase); 4 x M2.5 x 8mm pan-head machine screw (used as the bottom pivot for the motor assembly); 4 x M2.5 full-nut (Used to secure the bottom pivot for the motor assembly) 4 2.5mm x 6mm x 3mm (id x od x h) bearing (used as the bottom pivot for the motor assembly); The battery pack just hangs under the chassis using tie-wraps. I recommend using 3mm wide x 150mm long tie wraps. But don't tighten too much, just enough to hold it in place but loose enough to be able to pull the battery pack out to replace the batteries. To assemble the wheels: 4 x M2 x 6mm pan-head machine screw (Used to secure the wheel onto the motor shaft); 4 x M2 full nut (Inserted into wheel hub to provide a thread for the M2 screw that secures the wheel onto the motor shaft); To assemble the Raspberry Pi onto the chassis: 4 x M2.5 x 5mm pan-head screws 4 x M2.5 full-nut (optional) 4 x M2.5mm x 12mm M-F pillar to raise the Raspberry Pi off the chassis. This is needed if you're using a WiFi dongle plugged into the side of the Raspberry Pi. If you don't use this then the external WiFi dongle will interfere with the steering. The Python code used to test this is available in the examples folder of the package for the PiZ-Moto motor-controller on GitHub: https://github.com/astro-designs/piz-moto