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3DPrinting.md

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3D Printing

Estimated time: ~34 hours

We provide ready-to-print STL files for the 3D-printed parts below. These can be printed with generic PLA filament on consumer-grade FDM printers. We tested on a Bambu Lab P1S printer. For all components, we just load into bambuslicer, auto-rotate and auto-arrange, enable any recommended supports, and print.

Parts

Item Quantity Notes
Base plate Top 1
Base plate Bottom 1
Drive motor mount 3
Servo wheel hub 3 Use Supports1
Servo controller mount 1
12v Battery mount or 5v Battery mount 1
RasPi case Top 1 2
RasPi case Bottom 1 2
Arducam base mount and Wrist mount 1 Compatible with this camera
Webcam base mount, gripper insert, and wrist mount 1 Compatible with this camera
Modified Follower Arm Base 1 Use Tree Supports, Optional, but recommended if you have not built SO-100 already
Follower arm 1
Leader arm 1

Note: Make sure to enable supports where specified!

Printing Instructions

Assuming you already have access to a 3D printer3, follow these steps to print all the parts above.

1. Setup Printer

  1. Calibrate the printer and level beds according to printer-specific instructions
  2. Clean the print bed
  3. Load-in filament

2. Print the Parts

  1. Upload STL file to printing/slicing software. Auto-rotate and auto-arrange.
  2. Enable supports if specified and slice. We tested with the following settings:
    • Infill Density: 15%
    • Layer Height: 0.2 mm
    • Printing Speed: 150 mm/s
  3. If needed, upload G-code (slice file) to printer and print

3. Take Down

  1. Remove printed part(s) from printer
  2. Clean print bed if needed
  3. Remove any supports from printed parts

For tutorials on how to assemble the robot, checkout the Assembly page!

Footnotes

1: Modified from VEX VersaHub model

2: Modified from Micro Center model

3: If not, we recommend Bambu Lab or Prusa, or checkout this list of brands.