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.
| 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 12v EU 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!
Assuming you already have access to a 3D printer3, follow these steps to print all the parts above.
- Calibrate the printer and level beds according to printer-specific instructions
- Clean the print bed
- Load-in filament
- Upload STL file to printing/slicing software. Auto-rotate and auto-arrange.
- 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
- If needed, upload G-code (slice file) to printer and print
- Remove printed part(s) from printer
- Clean print bed if needed
- Remove any supports from printed parts
For tutorials on how to assemble the robot, checkout the Assembly page!
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.