May 14, 2016

Chassis construction

In this guide you can build your personal DUDE robot following the steps in this page. The first step is to buy all components and take near you all required equipment.

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Dude frame parts 615.79 KB 18 downloads

All mechanical components about DUDE robot.
A pdf with cutting planes and 3D components...

EQUIPMENT

hacksaw

Hacksaw

Screwdrivers

Screwdrivers

Cutter

Cutter

Cutter

Wrenches

PREPARATION

With the cutter, cut all frame. Usually I cut with a scissor the border of the parts and with a glue I paste on the PVC. I use this reference to cut all parts, but if you have a laser cutter machine It's  more easy.

REMIND

The first plane are two same plane glued to increase the thickness (6mm) and the robustness.

With a hacksaw cut a M4 threaded rod in different lengths:

  • 12 x 6,5 mm
  • 4 x 6mm
  • 2 x 7mm

After cut a carbon fiber pipe with internal hole of 4mm and external of 6mm:

  • 12 x 4,5 mm
  • 4 x 4mm
  • 2 x 5mm
Threaded rod

Threaded rod

Carbon fiber pipe

Carbon fiber pipe

With a 3D printer, you print the passive omniwheel support.

After the 3D printer finish you should use a spacer to align the omni wheel and with two screws fix the spacer between the hole inside the support.

When you have finsh to cut all parts, you can start to assembly all part to complete the frame of dude robot. I suggest to check all parts and prepare the table to start to build the robot.

Mechanicals components

ELECTRICAL CONNECTION

Required components

  • 2 meters cable, each one with different colors;
  • Fuse holder;
  • Switch;
  • different connectors (male, female).

Follow the electrical connection on the picture and build all electrical connection.

ASSEMBLY THE FIRST FRAME

  • Take all 12 threaded rod 6.5mm of length and assembly long of all holes in the border of the base frame;
  • Block all threaded rod with a bolt and insert a carbon fiber long 4.5mm in all rods;
  • Assembly and block with screws and bolts the two aluminium motor shaft;
  • Assembly the passive wheel support on the back of the frame;
  • Finally mount the two motors with two wheels in the shaft.

Finally take the DC/DC converter and fix with 4 screws near the passive wheel. Inside the two little PVC walls you can try to positioning the lithium battery and check the correct dimension of the first robot plane.

ASSEMBLY THE SECOND FRAME

Upper the frame:

  • Take your NVIDIA Jetson TK1 and set over the four spacers;
  • Same work for the unav. This board must mount in front of the plane;
  • Upper the unav mount the ubridge;
  • NOT IN PICTURE Near the unav mount an DC/DC regulator.

Below the frame:

  • Below the frame, bring your USB hub and fix with a double-sided adhesive tape;
  • Near the usb hub fix an USB serial converter for the unav;
  • Connect the USB cable from the USB serial converter to hub USB;
  • Connect the USB hub to the NVIDIA Jetson TK1 assembled before;
  • NOT IN PICTURE Add two wi-fi antennas near the frame borders.

Bring your 4 x 6mm threaded rods and mount in the four hole in front of the plane. These rods are used to support the vision sensor plane. The latest remaining threaded rods mount behind the plane, it used to support the cover.

Take your 8 transparent 2mm PVC and assembly between the first and the second plane. All transparent walls are mount on the slots.

When all parts fit. Use your 12 bolts to fix the second plane.

Plug last 4mm and 5mm carbon fiber pipes in all rods.

CAMERA AND COVER

  • Assembly the cover and check if all walls cover enter easily inside the slots in the upper frame;
  • Cover the unav and dc/dc 5v regulator with the little upper frame;
  • Mount over the yellow upper frame the RGBD sensor and put inside the big hole in the upper frame the USB cable;
  • Connect the USB cable on the hub usb inside the robot;
  • Block the upper frame with the 4 blue bolts. 

IMU PLANE

With the same work to cut the frame of dude, cut the additional 

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