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1 | // challenge-bot |
2 | // GNU AGPLv3 (or later at your option) |
3 | // project available at these locations: |
4 | // https://gitorious.org/ozzloy/challenge-bot |
5 | // https://github.com/waynegramlich/challenge-bot |
6 | |
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7 | wheel_depth = 6; |
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8 | wheel_radius = 68/2; |
9 | |
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10 | module encoder_shaft(){ |
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11 | // measured with calipers, checked against the motor shaft |
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12 | motor_shaft_big = 3.7; |
13 | motor_shaft_small = 4.8; |
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14 | motor_shaft_length = wheel_depth * 3 / 4; |
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15 | |
16 | intersection(){ |
17 | cylinder(h = motor_shaft_length, |
18 | r = motor_shaft_big, |
19 | center = true, |
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20 | $fn = 30); |
21 | // x direction is multiplied by 2 because the radius of the cylinder |
22 | // goes in both directions. the extra .1 is for overlap |
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23 | cube([motor_shaft_big * 2.1, motor_shaft_small, motor_shaft_length], |
24 | center = true);}} |
25 | |
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26 | module mounting_screw(){ |
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27 | cylinder(h = wheel_depth * 1.1, r = 1, $fn = 30, center = true);} |
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28 | |
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29 | module wheel(){ |
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30 | translate([0, 0, wheel_depth / 2]){ |
31 | difference(){ |
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32 | cylinder(h = wheel_depth, r = wheel_radius, center = true, $fn = 30); |
33 | translate([0, 0, wheel_depth / 4]){ |
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34 | scale([1, 1, 1.1]){ |
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35 | encoder_shaft();}} |
36 | mounting_screw(); |
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37 | for(i = [1 : 5]){ |
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38 | rotate(i * 360/5, [0, 0, 1]){ |
39 | translate([0, 0, -0.6 * wheel_depth]) |
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40 | between_spokes();}} |
41 | translate([0, 0, wheel_depth / 4]){ |
42 | difference(){ |
43 | cylinder(h = wheel_depth / 1.2, |
44 | r = 0.85 * wheel_radius, |
45 | center = true); |
46 | cylinder(h = wheel_depth / 1.2, |
47 | r = 0.23 * wheel_radius, |
48 | center = true);}}}}} |
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49 | |
50 | module wheel_block(){ |
51 | cube([wheel_radius, wheel_radius, wheel_depth]);} |
52 | |
53 | module pie_slice(){ |
54 | intersection(){ |
55 | translate([0, 0, wheel_depth / 2]){ |
56 | cylinder(h = wheel_depth, |
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57 | r = 0.85 * wheel_radius, |
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58 | center = true);} |
59 | translate([0, wheel_radius * 0.3, 0]){ |
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60 | rotate([0, 0, (360 / 5) / 2]){ |
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61 | intersection(){ |
62 | wheel_block(); |
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63 | rotate([0, 0, 90 - 360 / 5]) |
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64 | wheel_block();}}}}} |
65 | |
66 | module between_spokes(){ |
67 | minkowski(){ |
68 | pie_slice(); |
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69 | cylinder(h = wheel_depth / 2, r = 1, $fn = 30);}} |
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70 | |
71 | wheel(); |