Pan/Tilt Mount

thingiverse

This is a custom pan/tilt mount designed for use with the Microsoft LifeCam HD-5000 webcam. Two standard size servos drive the camera in a compact pan/tilt setup. A boss on the tilt mount allows an LED Halo light to be attached, ideal for use with retroreflective targets. Print Settings: Printer: Kossel Mini Rafts: No Supports: No Infill: 25% Design Process: Step One: Define the Challenge My robotics students build robots and compete in the FIRST Robotics competition each year. The challenge changes annually, requiring a robust system that enables rapid target acquisition, robot orientation to the target, and accurate launching of a foam ball through the target. To achieve this task, we broke down the process into smaller steps: Identify the target (marked with retroreflective tape) Calculate the difference between the robot's current heading and the required orientation to the target Instruct the robot to move the necessary distance to the desired orientation Verify alignment to the target Launch the foam ball! For this process, an accurate vision system is essential, requiring: A camera with sufficient resolution An LED lighting system to activate the retroreflective tape Hobby servos for the Pan and Tilt axes Step Two: Design the Camera Holder We designed the camera holder in Autodesk Fusion360 due to its user-friendly interface. The printed component securely holds the Microsoft LifeCam HD-5000 with two zip-ties, allowing for integral mounting of the LED ring and tilt servo horn. The inside of the camera holder is tapered to accommodate the camera, with inset pockets for required hardware. A boss on the front allows the LED ring to be glued in place. Step Three: Assemble the Whole Model After designing the camera mount, we focused on the lower half of the part: The tilt and pan yoke. This component holds both the assembled tilt setup and anchors to the base servo for pan. By printing only two components, students rapidly achieved good results. We refined various versions to get better hole sizes to fit necessary hardware for assembly. Project Objectives: The objective is to inspire and recognize talent and ability in STEM (Science, Technology, Engineering, and Mathematics). Students start with a challenge and learn how analytical thinking and intentional engineering can conquer tough problems. Audiences: FIRST is aimed at high school students. Designing a custom Pan/Tilt vision system is not suitable for anyone below 9th grade level. Preparation: FIRST projects are challenging, requiring immense resources to run a team. Our robotics shop has a manual milling machine, drill press, band saw, lathe, many hand tools, and multiple CAD computers. Anyone interested should research FIRST robotics and familiarize themselves with the program. Steps: The steps of each design challenge vary by year. This year required fast speeds, dictating our servo choice. The heavy impact on the robot dictated the infill and structural requirements of each component. For assembly, you'll need: 1x #10-32 1/2" screw 1x #10 5/16 nut (low profile) 8x #6-32 screws (3/8" long) 2x servos 1x LED ring 2x 1/4" wide zip ties (for holding camera to tilt mount) Also included are assembly PDF's for students showing exploded views and assembly instructions. Results: The resulting vision system functions extremely well. A video of an early test of the camera alignment is attached, showcasing the system's capabilities. I'm proud of my students for achieving this impressive result!