Project: Tube Crawler

prusaprinters

<p>I have occasional need to inspect long underground drainage culverts. Robots to do this task are hideously expensive, so I decided to make my own. This robot is designed to use off the shelf components such as RC truck axles and gearboxes, motors and other easily obtainable robotics bits, and will eventually have a blue robotics pressure hull up top.</p> <p>This rover will be a tethered vehicle and will mainly go up and down dry or submerged tunnels in a straight line forward and backwards. It will eventually have an RC surface running mode. It could be adapted for wheel stearing easily if there becomes a need. As configured currently I expect it will be able to fit into 8" or 10" culverts.</p> <p>This project is temporarily on hold pending a few things, but I will be returning to it. The next piece will be better seals for the motor arms, and then the front camera / light assembly and housing clamps for the pressure housing. the rear will have a tether attachment point for my existing ROV tether.</p> <p>Parts lists, build components, better pictures, etc will be forthcoming. The RC parts are mainly Traxxis RC components and differential parts. At the slow speeds this will be utilizing, I don't anticipate the gearing will be a concern. The two rear motors have position encoders. I haven't decided on the robotics platform as of yet.</p> <p>Parts that don't yet exist: The front and rear swaybar anchors (which fit in the area with the two brass heat set inserts for and aft), the pressure hull mounts, light brackets, the rear tether mount, Possibly mud fenders later. Version 3 of the motor arms will have an integral gasket.</p> <h3>Print instructions</h3><h3>Category: Robotics Summary</h3> <p>I have occasional need to inspect long underground drainage culverts. Robots to do this task are hideously expensive, so I decided to make my own. This robot is designed to use off the shelf components such as RC truck axles and gearboxes, motors and other easily obtainable robotics bits, and will eventually have a blue robotics pressure hull up top.</p> <p>This rover will be a tethered vehicle and will mainly go up and down dry or submerged tunnels in a straight line forward and backwards. It will eventually have an RC surface running mode. It could be adapted for wheel stearing easily if there becomes a need. As configured currently I expect it will be able to fit into 8" or 10" culverts.</p> <p>This project is temporarily on hold pending a few things, but I will be returning to it. The next piece will be better seals for the motor arms, and then the front camera / light assembly and housing clamps for the pressure housing. the rear will have a tether attachment point for my existing ROV tether.</p> <p>Parts lists, build components, better pictures, etc will be forthcoming. The RC parts are mainly Traxxis RC components and differential parts. At the slow speeds this will be utilizing, I don't anticipate the gearing will be a concern. The two rear motors have position encoders. I haven't decided on the robotics platform as of yet.</p> <p>Parts that don't yet exist: The front and rear swaybar anchors (which fit in the area with the two brass heat set inserts for and aft), the pressure hull mounts, light brackets, the rear tether mount, Possibly mud fenders later. Version 3 of the motor arms will have an integral gasket.</p> <h3> Print Settings</h3> <p><strong>Printer Brand:</strong> LulzBot</p> <p><strong>Printer:</strong> TAZ 5</p> <p><strong>Rafts:</strong> No</p> <p><strong>Supports:</strong> Yes</p> <p><strong>Resolution:</strong> 0.5mm nozzle ABS</p> <p><strong>Infill:</strong> 84% or better</p> <p><strong>Notes:</strong></p> <p>I printed this with black Push plastics ABS, PLA would probably work fine here. You will want support for some of the motor housing sections.</p>