Parametric Robot Wheel (Biohazard)

thingiverse

Revamped and improved design available here: http://www.thingiverse.com/thing:21486/ Inspired by the biohazard logo, this parametric robot wheel uses an o-ring as a tire. The OpenSCAD file allows you to specify the o-ring size, rim height, hub diameter and height, shaft diameter, set screw count, and even adds fillet or chamfers on the hub. You can also customize the design by altering the spoke() module. Check the renderings and OpenSCAD file for detailed instructions. Additional wheel designs with the same foundation are available as well: Biohazard (http://www.thingiverse.com/thing:21010), Circles (http://www.thingiverse.com/thing:21065), Spoked (http://www.thingiverse.com/thing:21064), and Spiral (http://www.thingiverse.com/thing:21277). To use the wheels, follow these steps: 1) Print the part, 2) Drill motor shaft and set screw holes for a perfect fit, 3) Insert an M3 nut into the captive nut trap with a soldering iron (optional: adjust nut diameter and thickness in OpenSCAD file), 4) Place tire on wheel, and attach to robot. Please share common o-ring sizes you know of so I can create STLs for them. Currently available are 'BiohazardWheel-4mm-7CS-95ID' (4mm, 7mm, 95mm) and 'BiohazardWheel-4mm-4.76CS-149.23ID' (4mm, 5-7/8", 3/16"). To modify the OpenSCAD file, adjust parameters such as tireCSDiameter (o-ring rubber thickness), tireID (o-ring internal diameter), tireStretch (circumferential stretch percentage for a tight fit), wheelWidth, rimHeight, numberOfSpokes, hubDiameter, hubHeight, shaftDiameter, setScrewDiameter, setScrewNutDiameter, setScrewNutThickness, setScrewCount, hubZOffset, baseFilletRadius, topFilletRadius, and chamferOnly.