Turtlebot-Mechanical-Update

This repository contains the 3D model of a modified Turtlebot Burger used by the SwarmUS project.

Requirements

• Solidworks 2021

Getting started

This repository contains submodule of 3D model parts. Right after cloning the project and prior to opening any assembly, run the following command:

git submodule update --init --recursive

Repository structure

---

Turtlebot-Mechanical-Update
├── outputs
│   ├── dxf
|   ├── pdf
│   └── STL
|   	├── external
│   	└── internal
├── external
├── internal
├── TurtleBot
├── Turtlebot_modified.SLDASM
└── README.md

Turtlebot_modified.SLDASM

Main assembly of the modified Turtlebot. It's composed of a Turtlebot Burger with additionnal components that are external to the robot (external) and of components that are internal to the robot (internal). These components wrre mostly added to support mechanically and electrically the HiveBoard and its BeeBoards.

Turtlebot

This folder contains all the components of the Turtlebot and it contains the Turtlebot's assembly itself. All the components and the assembly were exported from the Robotis Model on OnShape and was converted to a SolidWorks assembly afterwards.

external

Contains the 3D models of the external components and their supports. Significant assemblies and parts are described below:

• qr_plate.SLDPRT: Plate on which a QR code is glued on. Can be directly screwed on the Turtlebot top layer.
• qr_plate_support.SLDPRT: Supports of the qr_plate. The part has two configurations, one for the port side and one for the starboard side.
• HiveBoard-BeeBoard-Mechanical: Submodule that contains the 3D models of the BeeBoard and the HiveBoard and their cases.

internal

Contains the 3D models of the internal components added to the Turtlebot. Significant assemblies and parts are described below:

• REG_313080006.SLDPRT: 313080006 5V regulator for powering the Hiveboard and its BeeBoards.
• assembled_interloc_system.SLDASM: Assembly of the HiveBoard, 3x BeeBoards, the voltage regulator (REG_313080006), a plate with the bolt pattern of all the components and some standoff for the assembly with the Turtlebot. The BeeBoards are placed in a specific pattern for interlocalisation.

Outputs

• STL files of the custom made part in order to 3D print them.
• DXF files of the custom 2D plate. A .swg and a .pdf was generated for each .dxf files with 0.001" paths with the colorRGB(255, 0, 0) . This can be used with a laser cutting machine.