“CAD model
The whole Fusion 360 project can be found in the CAD folder, download the .f3z file and open it in desktop Fusion 360.
Wheels
There are two options for wheeles, either original Curiosity style wheels that print in one piece. Or Mars 2020 style wheels that print in two parts where outer part can be printed in flexibale plastic such as TPU. The rover_2020_wheel_flex.f3d wheels are preferred if your printer can print in TPU as they provide way more grip.
Driving
There are 3 ways to drive the Rover right now:
LoRa
Websockets
Generic RC Transmitter
By moving a 3 way switch on the rover, the startup mode can be choosen; WiFi station + LoRa, LoRa only or WiFi AP (when using website hosted on the Rover, see data folder). Here is my controller supporting both LoRa and websocket control of the Rover.
Telematics
Rover will automatically send telematics data as soon as someone connects to the websocket server or over LoRa if Rover is being controlled ove LoRa.
Hardware
6 12V 60 RPM DC motors, one in each wheel (https://github.com/jakkra/Mars-Rover/issues/6)
2 brushless ESC’s one for each side (3 motors)
Lots of (12, one for each servo) 12V to 5V switching voltage regulators
4 servos (MG946R/MG996R) on each corner wheel to steer.
6 Servos (MG946R) in the arm for 6-DOF. Poweded by a 3S battery.
2 servos (MG946R/MG996R) for the head.
6 Channel RC receiver and transmitter
6 Motor shaft adapters https://www.pololu.com/product/1081
Some Round Metal Servo Arm 25T Disc Horns.
MCU (ESP32)
3S battery
Standard PVC pipe with inner diameter of 23.40 mm and outer diameter 25 mm.
Lots of screws and bolts, mostly M3, but some M4’s too.
Two kinds of bearings: 5x 608ZZ and 5x 25mm SKF 6005
Check the Fusion360 project for more details.
Cable madness is TODO to fix (temporary fixed by hiding it under the “lid”)”