// quick-and-dirty sketch of a new stand between the turn-table and the Dynamixel MX-106 servo motor as replacement for the AX-18A servo pair in the shoulder joint of the AX18A robot arm. The center of motor shaft is elevated 100mm above the turn-table. difference() { union() { rotate([0,0,45]) cylinder(87,44,32,$fn=4); //disc translate([0,0,1]) cylinder(d=113, h=2.0, center=true,$fn=300); } //stand translate([0,0,34]) cube(size = [28, 28, 60], center = true); translate([0,0,24]) rotate([90,0,0]) cylinder(d=40, h=80.0, center=true,$fn=200); translate([0,0,24]) rotate([0,90,0]) cylinder(d=40, h=80.0, center=true,$fn=200); // connector openings translate([7,0,72]) cube(size = [18, 60, 17], center = true); //motor, make visible by placing a '#' at the beginning of the next line. translate([0,0,100]) MX106(); //holes bottom plate translate([8,0,0]) cylinder(d=2.3, h=10.0, center=true,$fn=200); translate([-8,0,0]) cylinder(d=2.3, h=10.0, center=true,$fn=200); translate([0,8,0]) cylinder(d=2.3, h=10.0, center=true,$fn=200); translate([0,-8,0]) cylinder(d=2.3, h=10.0, center=true,$fn=200); translate([8,0,2.9]) cylinder(d=6, h=2.3, center=true,$fn=200); translate([-8,0,2.9]) cylinder(d=6, h=2.3, center=true,$fn=200); translate([0,8,2.9]) cylinder(d=6, h=2.3, center=true,$fn=200); translate([0,-8,2.9]) cylinder(d=6, h=2.3, center=true,$fn=200); //flat edge for screw heads motor translate([(34/2+10+2.5),0,100-14.5]) rotate([0,90,0]) roundCornersCube(59.5+12, 29.2+12, 20, 2); translate([-(34/2+10+2.5),0,100-14.5]) rotate([0,90,0]) roundCornersCube(59.5+12, 29.2+12, 20, 2); } // MX-106 body module MX106() { difference(){ union(){ //axis rotate([0,90,0]) cylinder(d=8.0, h=46+3.2, center=true,$fn=200); //housing (motor width +0.2) translate([0,0,(-45.0+29.75)]) rotate([0,90,0]) roundCornersCube(59.5, 29.0+0.2, 46.0, 2); //slabs (motor thickness +0.2) translate([0,0,(-45.0+29.75-2.8)]) rotate([0,90,0]) difference() { cube(size = [65.1, 40.2+0.2, 34+0.2], center = true); translate([-(65.1/2), ((40.2+0.2)/2), 0]) rotate([0,0,45]) cube(size = [5.5, 5.5, 40], center = true); translate([-(65.1/2), -((40.2+0.2)/2), 0]) rotate([0,0,45]) cube(size = [5.5, 5.5, 40], center = true); translate([(65.1/2), ((40.2+0.2)/2), 0]) rotate([0,0,45]) cube(size = [5.5, 5.5, 40], center = true); translate([(65.1/2), -((40.2+0.2)/2), 0]) rotate([0,0,45]) cube(size = [5.5, 5.5, 40], center = true); } //servo horn translate([46/2+3-1.25,0,0]) rotate([0,90,0]) cylinder(d=28.0, h=2.5, center=true,$fn=200); translate([46/2+3+1,0,0]) rotate([0,90,0]) cylinder(d=10.0, h=2, center=true,$fn=200); //extension translate([-(46/2+3.5), 0, 0]) rotate([0,90,0]) cylinder(d=8.1, h=7, center=true,$fn=200); translate([-(46/2+7-0.75), 0, 0]) rotate([0,90,0]) cylinder(d=10.1, h=1.5, center=true,$fn=200); //mounting holes housing, negative translate([0, (34.6/2), 4.0]) rotate([0,90,0]) cylinder(d=2.8, h=60, center=true,$fn=200); translate([0, -(34.6/2), 4.0]) rotate([0,90,0]) cylinder(d=2.8, h=60, center=true,$fn=200); translate([0, (34.6/2), -18.0]) rotate([0,90,0]) cylinder(d=2.8, h=60, center=true,$fn=200); translate([0, -(34.6/2), -18.0]) rotate([0,90,0]) cylinder(d=2.8, h=60, center=true,$fn=200); translate([0, (34.6/2), -40.0]) rotate([0,90,0]) cylinder(d=2.8, h=60, center=true,$fn=200); translate([0, -(34.6/2), -40.0]) rotate([0,90,0]) cylinder(d=2.8, h=60, center=true,$fn=200); translate([0, (22.0/2), -47.8]) rotate([0,90,0]) cylinder(d=2.8, h=60, center=true,$fn=200); translate([0, -(22.0/2), -47.8]) rotate([0,90,0]) cylinder(d=2.8, h=60, center=true,$fn=200); } //servo horn holes translate([46/2+3+1.2, 0, 0]) rotate([0, 90, 0]) cylinder(d=2.4, h=2.8, center=true,$fn=200); translate([46/2+3-1.2, 22/2, 0]) rotate([0, 90, 0]) cylinder(d=2.4, h=2.8, center=true,$fn=200); translate([46/2+3-1.2, -22/2, 0]) rotate([0, 90, 0]) cylinder(d=2.4, h=2.8, center=true,$fn=200); translate([46/2+3-1.2, 0, 22/2]) rotate([0, 90, 0]) cylinder(d=2.4, h=2.8, center=true,$fn=200); translate([46/2+3-1.2, 0, -22/2]) rotate([0, 90, 0]) cylinder(d=2.4, h=2.8, center=true,$fn=200); translate([46/2+3-1.2, sqrt(pow(22/2,2)/2), sqrt(pow(22/2,2)/2)]) rotate([0, 90, 0]) cylinder(d=2.4, h=2.8, center=true,$fn=200); translate([46/2+3-1.2, -sqrt(pow(22/2,2)/2), sqrt(pow(22/2,2)/2)]) rotate([0, 90, 0]) cylinder(d=2.4, h=2.8, center=true,$fn=200); translate([46/2+3-1.2, sqrt(pow(22/2,2)/2), -sqrt(pow(22/2,2)/2)]) rotate([0, 90, 0]) cylinder(d=2.4, h=2.8, center=true,$fn=200); translate([46/2+3-1.2, -sqrt(pow(22/2,2)/2), -sqrt(pow(22/2,2)/2)]) rotate([0, 90, 0]) cylinder(d=2.4, h=2.8, center=true,$fn=200); //mounting holes housing //translate([0, (34.6/2), 4.0]) rotate([0,90,0]) cylinder(d=2.7, h=50, center=true,$fn=200); //translate([0, -(34.6/2), 4.0]) rotate([0,90,0]) cylinder(d=2.7, h=50, center=true,$fn=200); //translate([0, (34.6/2), -18.0]) rotate([0,90,0]) cylinder(d=2.7, h=50, center=true,$fn=200); //translate([0, -(34.6/2), -18.0]) rotate([0,90,0]) cylinder(d=2.7, h=50, center=true,$fn=200); //translate([0, (34.6/2), -40.0]) rotate([0,90,0]) cylinder(d=2.7, h=50, center=true,$fn=200); //translate([0, -(34.6/2), -40.0]) rotate([0,90,0]) cylinder(d=2.7, h=50, center=true,$fn=200); //translate([0, (22.0/2), -47.8]) rotate([0,90,0]) cylinder(d=2.7, h=50, center=true,$fn=200); //translate([0, -(22.0/2), -47.8]) rotate([0,90,0]) cylinder(d=2.7, h=50, center=true,$fn=200); } } /* http://codeviewer.org/view/code:1b36 Copyright (C) 2011 Sergio Vilches This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . Contact: s.vilches.e@gmail.com ----------------------------------------------------------- Round Corners Cube (Extruded) roundCornersCube(x,y,z,r) Where: - x = Xdir width - y = Ydir width - z = Height of the cube - r = Rounding radious Example: roundCornerCube(10,10,2,1); *Some times it's needed to use F6 to see good results! ----------------------------------------------------------- */ // Test it! //roundCornersCube(10,5,2,1); module createMeniscus(h,radius) // This module creates the shape that needs to be substracted from a cube to make its corners rounded. difference(){ //This shape is basicly the difference between a quarter of cylinder and a cube translate([radius/2+0.1,radius/2+0.1,0]){ cube([radius+0.2,radius+0.1,h+0.2],center=true); // All that 0.x numbers are to avoid "ghost boundaries" when substracting } cylinder(h=h+0.2,r=radius,$fn = 25,center=true); } module roundCornersCube(x,y,z,r) // Now we just substract the shape we have created in the four corners difference(){ cube([x,y,z], center=true); translate([x/2-r,y/2-r]){ // We move to the first corner (x,y) rotate(0){ createMeniscus(z,r); // And substract the meniscus } } translate([-x/2+r,y/2-r]){ // To the second corner (-x,y) rotate(90){ createMeniscus(z,r); // But this time we have to rotate the meniscus 90 deg } } translate([-x/2+r,-y/2+r]){ // ... rotate(180){ createMeniscus(z,r); } } translate([x/2-r,-y/2+r]){ rotate(270){ createMeniscus(z,r); } } }