Mechanical Assembly
Ready to start?
Helpful Tips
- Make sure you have all the components for each section before starting
- Order: Fastener, Washer, Lock Washer, Nut
- If a hole is too tight for fastener to slide through, use screw driver to loosen it
- Tighten nuts with fingers first, then use key
- For each part, put all fasteners on before tightening all of them
Left to right: Phillips driver, fastener, part, washer, lock washer, nut, hex key
1. MPU6050
Materials
- Frame
- MPU6050
- 3D printed MPU6050 cover
- 2x M3x12mm Fastener
- 2x M3 Hex Nut
- 2x M3 Lock Washer
- 2x M3 Washer
Note: pins point up and fasteners point down
Exploded view: note which side has 3 holes
2. Caster Wheel
3. Attach Motor Mounts
Materials
- 2x Motors (with wheel attached)
- 1x 3D printed left motor bracket
- 1x 3D printed right motor bracket
- 4x M3x30mm Fastener
- 4x M3 Hex Nut
- 4x M3 Lock Washer
- 4x M3 Washer
Left motor with bracket attached
Right motor with bracket attached
Exploded view of left motor bracket attachment
Repeat for right motor, it mirrors the left motor
4. Attach Motors to Frame
Materials
- 2x Motor (with bracket attached)
- 4x M3x12mm Fastener
- 4x M3 Hex Nut
- 4x M3 Lock Washer
- 4x M3 Washer
Once attached, pass wires through holes
Exploded view
5. Optical Interrupt Sensors
Materials
- 2x Optical interrupt sensor
- 2x M3x12mm Fastener
- 2x M3 Hex Nut
- 2x M3 Lock Washer
- 2x M3 Washer
Make sure pins point towards caster wheel
Exploded view
6. Motor Controller Board
Materials
- 1x Motor Controller
- 1x 3D Printed Spacer
- 2x M3x16mm Fastener
- 2x M3 Hex Nut
- 2x M3 Lock Washer
- 2x M3 Washer
First, remove jumpers from motor controller on ENA and ENB pins
Attach spacer onto 16mm fasteners
Attach to frame
7. Raft PCB Attachment
Materials
- 1x Raft Circuit Board
- NOTE: model is of v0.3 Raft
- 1x 3D Printed Spacer
- 3x M3x16mm Fastener
- 3x M3 Hex Nut
- 3x M3 Lock Washer
- 3x M3 Washer
v0.3 Raft
Attach spacer onto 16mm fasteners
Attach to frame
8. Fasten Servo Horn to Lidar Sensor Bracket
Materials
- 1x Servo Bag (with horns and fasteners inside)
- 1x 3D Printed Lidar Sensor Bracket
Slide the horn into the sensor bracket
Use screwdriver to attach self-tapping fasteners into the outer holes
9. Fasten Servo to Frame
Materials
- 1x Servo Motor
- 2x M2.2x9.5mm self-tapping fasteners
Pass servo wires through hole so that they are in the front, route up and down through the 3 holes
Use screwdriver to attach self-tapping fasteners into the frame, be careful to not break the plastic
(its okay if you need hot glue here)
Congrats! You're about halfway
Before moving on to electrical assembly,
check the following:
- You have all of the components so far
- All components feel secure
Once ready to move on: click here
