Triangular Swerve Drive Robot
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Model information
- Source
- Printables
- Category
- RC & Robotics
- License
- Creative Commons — Attribution — Noncommercial
My most complicated robot to date: 69 individually designed parts resulting in 109 printed parts. Including screws, motors, magnets, and other components, the total part count is over 350.
You can see it in action here:
If you want to make this model, start by looking at the triangular_robot_assembly.step file. It contains all the parts, and you will need it to identify where each piece goes. Some parts may look similar, but if they have different names, they are different—so be careful. In the assembly, all red parts are components that should not be printed.
The assembly is complete, except that it does not include cables.
Individual parts are provided in STL and STEP formats. Due to the triangular faces in an STL file, there may be minor issues when fitting parts together. I recommend printing from the STEP file to get the most precise parts.
Refer to the table below to see how many times each part should be printed:
Quantity | Name |
|---|---|
1 | alignment-guide |
1 | arm-coupler-left |
1 | arm-coupler-right |
1 | arm-cup |
2 | arm-endcap-a |
2 | arm-endcap-b |
1 | arm-finger-left |
1 | arm-finger-left-gear |
1 | arm-finger-right |
1 | arm-finger-right-gear |
1 | arm-left |
1 | arm-lid |
1 | arm-right |
2 | arm-servo-gear |
1 | battery-cover |
1 | bottom-otos-mount |
1 | camera-cable-fixture-a |
1 | camera-cable-fixture-b |
1 | camera-mount-pi3w |
1 | camera-mount-tof |
1 | cover-top |
1 | front-battery-cover-a |
1 | front-battery-cover-b |
1 | front-battery-cover-c |
1 | pcb-connector-spacer |
1 | pcb-frame |
6 | rim |
3 | rim-hex-fixture |
3 | stand |
1 | tower-back-cover |
1 | tower-back-frame |
1 | tower-base |
1 | tower-button |
1 | tower-frame |
1 | tower-front-cover |
1 | w1-swerve-bottom |
1 | w1-swerve-center-b |
1 | w1-swerve-center-c |
1 | w1-swerve-middle |
1 | w1-swerve-top-cover |
1 | w1-swerve-top-ring |
2 | w1w2-swerve-motor-cover |
1 | w1w3-swerve-side |
1 | w2-swerve-bottom |
1 | w2-swerve-center-b |
1 | w2-swerve-center-c |
1 | w2-swerve-middle |
1 | w2-swerve-top-cover |
1 | w2-swerve-top-ring |
1 | w2w3-swerve-side |
1 | w3-swerve-bottom |
1 | w3-swerve-center-b |
1 | w3-swerve-center-c |
1 | w3-swerve-middle |
1 | w3-swerve-motor-cover-2 |
1 | w3-swerve-top-cover |
1 | w3-swerve-top-ring |
3 | wa-swerve-axle-cover |
3 | wa-swerve-center-a |
3 | wa-swerve-center-d |
3 | wa-swerve-center-e |
3 | wa-swerve-gear-bottom |
3 | wa-swerve-gear-middle |
3 | wa-swerve-gear-top-a |
3 | wa-swerve-gear-top-b |
3 | wa-swerve-motor-cover |
6 | wa-swerve-motor-gear |
3 | wa-swerve-sensor-a |
3 | wa-swerve-sensor-b |
In addition to the 3D-printed parts, the following mechanical components are used:
Quantity | Name | Comment |
|---|---|---|
15 | Cup point hex socket set screw M3x0.5 x 6 |
|
2 | PH Pan head screw M2.5x0.45 x 4 | Included with MG90S servo |
4 | Hex nut grade A & B M2x0.4 |
|
15 | Hex nut grade A & B M3x0.5 |
|
14 | Hex socket head cap screw M2x0.40 x 6 |
|
2 | Hex socket head cap screw M3x0.50 x 10 |
|
4 | Hex socket head cap screw M3x0.50 x 12 |
|
6 | Hex socket head cap screw M3x0.50 x 14 |
|
23 | Hex socket head cap screw M3x0.50 x 16 |
|
16 | Hex socket head cap screw M3x0.50 x 20 |
|
3 | Hex socket head cap screw M3x0.50 x 22 x 18 |
|
12 | Hex socket head cap screw M3x0.50 x 25 x 18 |
|
2 | Hex socket head cap screw M3x0.50 x 30 |
|
10 | Hex socket head cap screw M3x0.50 x 6 |
|
6 | Hex socket head cap screw M3x0.50 x 8 |
|
6 | ext-bearing-5x16x5-625RS |
|
72 | ext-magnet-4x3 | Cylindrical magnet diameter 4 mm, length 3 mm |
3 | ext-magnet-4x5 | Cylindrical magnet diameter 4 mm, length 5 mm |
3 | axle | Diameter 5 mm, length 82 mm |
To make it run, you will need electronics, motors, and a battery:
Quantity | Name | Comment |
|---|---|---|
1 | ext-battery-turnigy-nano-3300mah | Turnigy Nano Battery 3S/3000mAh from Hobbyking |
1 | ext-camera-arducam-tof | |
1 | ext-camera-pi-3w | |
6 | ext-motor-CHP-20GP-180ABHL | ChiHai Motor CHP-20GP-180ABHL 12V/i29/515rpm from AliExpress |
1 | ext-pcb-ww-r5 | Custom made driver board available at Github |
1 | ext-raspberry-pi-5-active-cooler | Raspberry Pi 5 with cooler |
3 | ext-sensor-a3144 | Hall sensor A3144 |
1 | ext-servo-lw20mg | Servo LW 20MG from AliExpress |
2 | ext-servo-mg90 | Servo MG90S from AliExpress |
1 | ext-sparkfun-otos | SparkFun Optical Tracking Odometry Sensor |
3 | ext-tire-od75-id52 | Tire outer diameter 75mm from AliExpress |
1 | ext-tower-button-pcb | Strip board with a push button and a WS2812b led |
If you create remixes of this model and share your modifications publicly, please consider uploading your changes in an editable format, such as STEP. This makes it much easier for others to build on your improvements.
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