feat: UWB anchor mount bracket (Issue #564)
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// ============================================================
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// ============================================================
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// uwb_anchor_mount.scad — Stem-Mounted UWB Anchor Rev A
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// uwb_anchor_mount.scad — Wall/Ceiling UWB Anchor Mount Bracket
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// Agent: sl-mechanical 2026-03-01
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// Issue: #564 Agent: sl-mechanical Date: 2026-03-14
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// Closes issues #57, #62
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// (supersedes Rev A stem-collar mount — see git history)
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// ============================================================
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// ============================================================
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// Clamp-on bracket for 2× MaUWB ESP32-S3 anchor modules on
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// SaltyBot 25 mm OD vertical stem.
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// Anchors spaced ANCHOR_SPACING = 250 mm apart.
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//
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//
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// Features:
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// Parametric wall or ceiling mount bracket for ESP32 UWB Pro anchor.
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// • Split D-collar with M4 clamping bolts + M4 set screw
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// Designed for fixed-infrastructure deployment: anchors screw into
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// • Anti-rotation flat tab that keys against a small pin
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// wall or ceiling drywall/timber with standard M4 or #6 wood screws,
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// OR printed key tab that registers on the stem flat (if stem
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// at a user-defined tilt angle so the UWB antenna faces the desired
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// has a ground flat) — see ANTI_ROT_MODE parameter
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// coverage zone.
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// • Module bracket: faces outward, tilted 10° from vertical
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// so antenna clears stem and faces horizon
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// • USB cable channel (power from Orin via USB-A) on collar
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// • Tool-free capture: M4 thumbscrews (slot-head, hand-tighten)
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// • UWB antenna area: NO material within 10 mm of PCB top face
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//
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//
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// Components per mount:
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// Architecture:
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// 2× collar_half print in PLA/PETG, flat-face-down
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// Wall base → flat backplate with 2× screw holes (wall or ceiling)
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// 1× module_bracket print in PLA/PETG, flat-face-down
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// Tilt knuckle → single-axis articulating joint; TILT_DEG steps (15°)
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// locked with M3 bolt+nut; range 0–90° (wall to ceiling)
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// Anchor cradle→ U-cradle holding ESP32 UWB Pro PCB on M2.5 standoffs
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// USB-C channel→ routed exit groove on cradle side
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// Label slot → rear window slot for printed anchor-ID label card
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//
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// Part catalogue:
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// Part 1 — wall_base() Backplate + 2-ear pivot block
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// Part 2 — tilt_arm() Pivoting arm; knuckle + cradle arm
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// Part 3 — anchor_cradle() PCB cradle with standoffs + USB-C slot + label window
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// Part 4 — cable_clip() Snap-on USB-C cable guide for tilt arm
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// Part 5 — assembly_preview()
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//
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// Hardware BOM:
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// 2× M4 × 30 mm wood screws (or #6 drywall screws) wall fasteners
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// 1× M3 × 20 mm SHCS + M3 nyloc nut tilt pivot bolt
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// 4× M2.5 × 8 mm SHCS PCB-to-cradle
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// 4× M2.5 hex nuts captured in standoffs
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// 1× USB-C cable anchor power
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//
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// ESP32 UWB Pro interface (⚠ verify with calipers):
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// PCB size : UWB_L × UWB_W × UWB_H (55 × 28 × 10 mm default)
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// Mounting holes : M2.5, 4× corners on UWB_HOLE_X × UWB_HOLE_Y pattern
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// USB-C port : centred on short edge (−X face), UWB_USBC_W × UWB_USBC_H
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// Antenna area : top face, rear half — 10 mm keep-out of bracket material
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//
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// Tilt angles available (15° detent steps, TILT_DEG = 0–90):
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// 0° → horizontal face-up (ceiling mount, antenna faces down)
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// 15° → slight downward tilt (ceiling corner)
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// 30° → downward 30° (wall near ceiling)
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// 45° → 45° diagonal (wall mid-height)
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// 60° → near-vertical (wall, antenna faces across room)
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// 75° → 75° from horizontal
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// 90° → vertical face-out (wall mount, antenna faces forward)
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//
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//
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// RENDER options:
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// RENDER options:
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// "assembly" single mount assembled (default)
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// "assembly" full assembly at TILT_DEG (default)
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// "collar_front" front collar half for slicing (×2 per mount × 2 mounts = 4)
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// "wall_base_stl" Part 1
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// "collar_rear" rear collar half
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// "tilt_arm_stl" Part 2
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// "bracket" module bracket (×2 mounts)
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// "anchor_cradle_stl" Part 3
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// "pair" both mounts on 350 mm stem section
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// "cable_clip_stl" Part 4
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//
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// Export commands:
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// openscad uwb_anchor_mount.scad -D 'RENDER="wall_base_stl"' -o uwb_wall_base.stl
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// openscad uwb_anchor_mount.scad -D 'RENDER="tilt_arm_stl"' -o uwb_tilt_arm.stl
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// openscad uwb_anchor_mount.scad -D 'RENDER="anchor_cradle_stl"' -o uwb_anchor_cradle.stl
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// openscad uwb_anchor_mount.scad -D 'RENDER="cable_clip_stl"' -o uwb_cable_clip.stl
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// ============================================================
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// ============================================================
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$fn = 64;
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e = 0.01;
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// ── Tilt angle (override per anchor, 0–90°, 15° steps) ───────────────────────
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TILT_DEG = 30; // default: 30° downward tilt from horizontal
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// ── ESP32 UWB Pro PCB dimensions (verify with calipers) ──────────────────────
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UWB_L = 55.0; // PCB length (Y axis in cradle)
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UWB_W = 28.0; // PCB width (X axis in cradle)
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UWB_H = 10.0; // PCB + components height (Z in cradle)
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UWB_HOLE_X = 47.5; // M2.5 hole X span (centre-to-centre)
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UWB_HOLE_Y = 21.0; // M2.5 hole Y span
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UWB_USBC_W = 9.5; // USB-C receptacle width
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UWB_USBC_H = 4.0; // USB-C receptacle height
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UWB_ANTENNA_L = 20.0; // antenna area length at PCB rear (keep-out zone)
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// ── Wall base geometry ────────────────────────────────────────────────────────
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BASE_W = 60.0; // backplate width (X)
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BASE_H = 50.0; // backplate height (Z) — "height" when on wall
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BASE_T = 5.0; // backplate thickness (Y, into wall)
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BASE_SCREW_D = 4.5; // M4 / #6 screw clearance bore
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BASE_SCREW_HD = 8.5; // screw head countersink diameter
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BASE_SCREW_HH = 3.5; // countersink depth
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BASE_SCREW_SPC = 35.0; // screw hole centre-to-centre (Z span)
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KNUCKLE_W = 14.0; // pivot block width (X span between ears)
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KNUCKLE_T = BASE_T + 4.0; // pivot block Y depth (proud of base face)
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// ── Tilt arm geometry ─────────────────────────────────────────────────────────
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ARM_W = 12.0; // arm width (X)
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ARM_T = 5.0; // arm thickness (Y)
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ARM_L = 35.0; // arm length (distance from pivot to cradle attach)
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PIVOT_D = 3.3; // M3 pivot bolt clearance
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PIVOT_NUT_AF = 5.5; // M3 nut across-flats
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PIVOT_NUT_H = 2.4; // M3 nut height
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DETENT_D = 3.2; // detent notch diameter (15° step notches on base ear)
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DETENT_R = 8.0; // detent notch radius from pivot centre
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// ── Anchor cradle geometry ───────────────────────────────────────────────────
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CRADLE_WALL_T = 3.5; // side wall thickness
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CRADLE_BACK_T = 4.0; // back wall thickness (label slot in here)
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CRADLE_FLOOR_T = 3.0; // floor thickness
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CRADLE_LIP_H = 4.0; // front retaining lip height
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CRADLE_LIP_T = 2.5; // front lip thickness
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STANDOFF_H = 3.0; // M2.5 standoff height (PCB clear of floor)
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STANDOFF_OD = 5.5; // standoff boss OD
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LABEL_W = UWB_L - 4.0; // label slot width
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LABEL_H = UWB_W * 0.55; // label slot height (~half PCB width)
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LABEL_T = 1.2; // label card thickness (paper + laminate)
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// ── USB-C cable channel ──────────────────────────────────────────────────────
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USBC_CHAN_W = 11.0; // channel width (USB-C plug body ~8.5 mm)
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USBC_CHAN_H = 7.0; // channel height (plug + cable radius)
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// ── Cable guide clip ─────────────────────────────────────────────────────────
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CLIP_CABLE_D = 4.5; // USB-C cable OD
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CLIP_T = 2.0; // clip wall thickness
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CLIP_BODY_W = 16.0; // clip body width
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CLIP_BODY_H = 10.0; // clip body height
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// ── Fastener sizes ────────────────────────────────────────────────────────────
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M2P5_D = 2.7; // M2.5 clearance
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M3_D = 3.3;
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M4_D = 4.3;
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M3_NUT_AF = 5.5;
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M3_NUT_H = 2.4;
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// ============================================================
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// RENDER DISPATCH
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// ============================================================
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RENDER = "assembly";
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RENDER = "assembly";
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// ── ⚠ Verify with calipers ───────────────────────────────────
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if (RENDER == "assembly") assembly_preview();
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MAWB_L = 50.0; // PCB length
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else if (RENDER == "wall_base_stl") wall_base();
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MAWB_W = 25.0; // PCB width
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else if (RENDER == "tilt_arm_stl") tilt_arm();
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MAWB_H = 10.0; // PCB + components
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else if (RENDER == "anchor_cradle_stl") anchor_cradle();
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MAWB_HOLE_X = 43.0; // M2 mounting hole X span
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else if (RENDER == "cable_clip_stl") cable_clip();
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MAWB_HOLE_Y = 20.0; // M2 mounting hole Y span
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M2_D = 2.2; // M2 clearance
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// ── Stem ─────────────────────────────────────────────────────
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// ============================================================
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STEM_OD = 25.0;
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// ASSEMBLY PREVIEW
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STEM_BORE = 25.4; // +0.4 clearance
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// ============================================================
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WALL = 2.0; // wall thickness (used in thumbscrew recess)
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module assembly_preview() {
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// Ghost wall surface
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%color("Wheat", 0.25)
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translate([-BASE_W/2, -10, -BASE_H/2])
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cube([BASE_W, 10, BASE_H + 40]);
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// ── Collar ───────────────────────────────────────────────────
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// Wall base
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COL_OD = 52.0;
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color("OliveDrab", 0.85)
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COL_H = 30.0; // taller than sensor-head collar for rigidity
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wall_base();
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COL_BOLT_X = 19.0; // M4 bolt CL from stem axis
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COL_BOLT_D = 4.5; // M4 clearance
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THUMB_HEAD_D= 8.0; // M4 thumbscrew head OD (slot for access)
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COL_NUT_W = 7.0; // M4 hex nut A/F
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COL_NUT_H = 3.4;
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// Anti-rotation flat tab: a 3 mm wall tab that protrudes radially
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// Tilt arm at TILT_DEG
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// and bears against the bracket arm, preventing axial rotation
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color("SteelBlue", 0.85)
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// without needing a stem flat.
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translate([0, KNUCKLE_T, 0])
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ANTI_ROT_T = 3.0; // tab thickness (radial)
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rotate([TILT_DEG, 0, 0])
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ANTI_ROT_W = 8.0; // tab width (tangential)
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tilt_arm();
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ANTI_ROT_Z = 4.0; // distance from collar base
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// USB cable channel: groove on collar outer surface, runs Z direction
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// Anchor cradle at end of arm
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// Cable routes from anchor module down to base
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color("DarkSlateGray", 0.85)
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USB_CHAN_W = 9.0; // channel width (fits USB-A cable Ø6 mm)
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translate([0, KNUCKLE_T, 0])
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USB_CHAN_D = 5.0; // channel depth
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rotate([TILT_DEG, 0, 0])
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translate([0, ARM_T, ARM_L])
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anchor_cradle();
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// ── Module bracket ───────────────────────────────────────────
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// ESP32 UWB Pro PCB ghost
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ARM_L = 20.0; // arm length from collar OD to bracket face
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%color("ForestGreen", 0.4)
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ARM_W = MAWB_W + 6.0; // bracket width (Y, includes side walls)
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translate([0, KNUCKLE_T, 0])
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ARM_H = 6.0; // arm thickness (Z)
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rotate([TILT_DEG, 0, 0])
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BRKT_TILT = 10.0; // tilt outward from vertical (antenna faces horizon)
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translate([-UWB_L/2,
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ARM_T + CRADLE_BACK_T,
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ARM_L + CRADLE_FLOOR_T + STANDOFF_H])
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cube([UWB_L, UWB_W, UWB_H]);
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BRKT_BACK_T = 3.0; // bracket back wall (module sits against this)
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// Cable clip on arm mid-point
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BRKT_SIDE_T = 2.0; // bracket side walls
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color("DimGray", 0.70)
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translate([ARM_W/2, KNUCKLE_T, 0])
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rotate([TILT_DEG, 0, 0])
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translate([0, ARM_T + e, ARM_L/2])
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rotate([0, -90, 90])
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cable_clip();
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}
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M2_STNDFF = 3.0; // M2 standoff height
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// ============================================================
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M2_STNDFF_OD= 4.5;
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// PART 1 — WALL BASE
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// ============================================================
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// USB port access notch in bracket side wall (8×5 mm)
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// Flat backplate screws to wall or ceiling with 2× countersunk
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USB_NOTCH_W = 10.0;
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// M4 / #6 wood screws on BASE_SCREW_SPC (35 mm) centres.
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USB_NOTCH_H = 7.0;
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// Two upstanding pivot ears straddle the tilt arm; M3 pivot bolt
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// passes through both ears and arm knuckle.
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// ── Spacing ───────────────────────────────────────────────────
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// Detent arc on inner face of each ear: 7 notches at 15° steps
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ANCHOR_SPACING = 250.0; // centre-to-centre Z separation
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// (0°–90°) so tilt angle can be set without a protractor.
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// Label slot recess on outer face identifies anchor installation zone.
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$fn = 64;
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//
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e = 0.01;
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// Dual-use: mount flat face to wall (screws vertical) for wall mount,
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// or flat face to ceiling (screws horizontal) for overhead mount.
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// ─────────────────────────────────────────────────────────────
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//
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// collar_half(side)
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// Print: backplate flat on bed, PETG, 5 perims, 40 % gyroid.
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// split at Y=0 plane. Bracket arm on front (+Y) half.
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module wall_base() {
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// Print flat-face-down.
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ear_h = ARM_W + 3.0; // ear height (spans arm width + clearance)
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// ─────────────────────────────────────────────────────────────
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ear_t = 6.0; // ear thickness (Y)
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module collar_half(side = "front") {
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ear_sep = ARM_W + 1.0; // gap between ear inner faces (arm clearance)
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y_front = (side == "front");
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difference() {
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difference() {
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union() {
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union() {
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// D-shaped body
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// ── Backplate ────────────────────────────────────────────────
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intersection() {
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translate([-BASE_W/2, -BASE_T, -BASE_H/2])
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cylinder(d=COL_OD, h=COL_H);
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cube([BASE_W, BASE_T, BASE_H]);
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translate([-COL_OD/2, y_front ? 0 : -COL_OD/2, 0])
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cube([COL_OD, COL_OD/2, COL_H]);
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}
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// Anti-rotation tab (front half only, at +X side)
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// ── Two pivot ears (straddle tilt arm) ───────────────────────
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if (y_front) {
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for (ex = [-(ear_sep/2 + ear_t), ear_sep/2])
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translate([COL_OD/2, -ANTI_ROT_W/2, ANTI_ROT_Z])
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translate([ex, -BASE_T + e, -ear_h/2])
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cube([ANTI_ROT_T, ANTI_ROT_W,
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cube([ear_t, KNUCKLE_T + e, ear_h]);
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COL_H - ANTI_ROT_Z - 4]);
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}
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// Bracket arm attachment boss (front half only, top centre)
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// ── Stiffening gussets between backplate and ears ────────────
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if (y_front) {
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for (ex = [-(ear_sep/2 + ear_t), ear_sep/2])
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translate([-ARM_W/2, COL_OD/2, COL_H * 0.3])
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hull() {
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cube([ARM_W, ARM_L, COL_H * 0.4]);
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translate([ex, -BASE_T, -ear_h/2])
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}
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cube([ear_t, BASE_T - 1, 2]);
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translate([ex, -BASE_T, ear_h/2 - 2])
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cube([ear_t, BASE_T - 1, 2]);
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translate([ex + (ex < 0 ? ear_t : 0), -BASE_T, -ear_h/4])
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cube([1, 1, ear_h/2]);
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}
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}
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}
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// ── Stem bore ─────────────────────────────────────────
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// ── 2× countersunk wall screws (centred X, BASE_SCREW_SPC Z span) ──
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translate([0,0,-e])
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for (sz = [-BASE_SCREW_SPC/2, BASE_SCREW_SPC/2]) {
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cylinder(d=STEM_BORE, h=COL_H + 2*e);
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// Through bore
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translate([0, -BASE_T - e, sz])
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// ── M4 clamping bolt holes (Y direction) ──────────────
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rotate([-90, 0, 0])
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for (bx=[-COL_BOLT_X, COL_BOLT_X]) {
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cylinder(d = BASE_SCREW_D, h = BASE_T + 2*e);
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translate([bx, y_front ? COL_OD/2 : 0, COL_H/2])
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// Countersink (rear face of backplate)
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rotate([90,0,0])
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translate([0, -BASE_T - e, sz])
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cylinder(d=COL_BOLT_D, h=COL_OD/2 + e);
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rotate([-90, 0, 0])
|
||||||
// Thumbscrew head recess on outer face (front only — access side)
|
cylinder(d1 = BASE_SCREW_HD, d2 = BASE_SCREW_D,
|
||||||
if (y_front) {
|
h = BASE_SCREW_HH + e);
|
||||||
translate([bx, COL_OD/2 - WALL, COL_H/2])
|
|
||||||
rotate([90,0,0])
|
|
||||||
cylinder(d=THUMB_HEAD_D, h=8 + e);
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// ── M4 hex nut pockets (rear half) ────────────────────
|
// ── Pivot bolt bore (M3, through both ears) ──────────────────────
|
||||||
if (!y_front) {
|
translate([-(ear_sep/2 + ear_t + e), KNUCKLE_T * 0.55, 0])
|
||||||
for (bx=[-COL_BOLT_X, COL_BOLT_X]) {
|
rotate([0, 90, 0])
|
||||||
translate([bx, -(COL_OD/4 + e), COL_H/2])
|
cylinder(d = PIVOT_D, h = ear_sep + 2*ear_t + 2*e);
|
||||||
rotate([90,0,0])
|
|
||||||
cylinder(d=COL_NUT_W/cos(30), h=COL_NUT_H + e,
|
|
||||||
$fn=6);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// ── Set screw (height lock, front half) ───────────────
|
// ── M3 nyloc nut pocket (outer face of one ear) ──────────────────
|
||||||
if (y_front) {
|
translate([ear_sep/2 + ear_t - PIVOT_NUT_H - 0.4,
|
||||||
translate([0, COL_OD/2, COL_H * 0.8])
|
KNUCKLE_T * 0.55, 0])
|
||||||
rotate([90,0,0])
|
rotate([0, 90, 0])
|
||||||
cylinder(d=COL_BOLT_D,
|
cylinder(d = PIVOT_NUT_AF / cos(30),
|
||||||
h=COL_OD/2 - STEM_BORE/2 + e);
|
h = PIVOT_NUT_H + 0.5, $fn = 6);
|
||||||
}
|
|
||||||
|
|
||||||
// ── USB cable routing channel (rear half, −X side) ────
|
// ── Detent arc (7 notches at 15° steps on inner ear face) ────────
|
||||||
if (!y_front) {
|
// Notches on +X ear inner face (−X side of ear at ear_sep/2)
|
||||||
translate([-COL_OD/2, -USB_CHAN_W/2, -e])
|
for (da = [0 : 15 : 90])
|
||||||
cube([USB_CHAN_D, USB_CHAN_W, COL_H + 2*e]);
|
translate([ear_sep/2 - e,
|
||||||
}
|
KNUCKLE_T * 0.55 + DETENT_R * sin(da),
|
||||||
|
DETENT_R * cos(da)])
|
||||||
|
rotate([0, 90, 0])
|
||||||
|
cylinder(d = DETENT_D, h = ear_t * 0.4 + e);
|
||||||
|
|
||||||
// ── M4 hole through arm boss (Z direction, for bracket bolt) ─
|
// ── Anchor zone label recess (rear of backplate, readable at install) ─
|
||||||
if (y_front) {
|
// Shallow pocket (1.5 mm deep) for a printed paper label strip
|
||||||
for (dx=[-ARM_W/4, ARM_W/4])
|
translate([0, -BASE_T - e, 0])
|
||||||
translate([dx, COL_OD/2 + ARM_L/2, COL_H * 0.35])
|
rotate([-90, 0, 0])
|
||||||
cylinder(d=COL_BOLT_D, h=COL_H * 0.35 + e);
|
cube([BASE_W - 12, BASE_H - 16, 1.6], center = true);
|
||||||
}
|
|
||||||
|
// ── Lightening pockets ────────────────────────────────────────────
|
||||||
|
translate([0, -BASE_T + 1.5, 0])
|
||||||
|
cube([BASE_W - 14, BASE_T - 3, BASE_H - 20], center = true);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// ─────────────────────────────────────────────────────────────
|
// ============================================================
|
||||||
// module_bracket()
|
// PART 2 — TILT ARM
|
||||||
// Bolts to collar arm boss. Holds MaUWB PCB facing outward.
|
// ============================================================
|
||||||
// Tilted BRKT_TILT° from vertical — antenna clears stem.
|
// Pivoting arm connecting the wall base to the anchor cradle.
|
||||||
// Print flat-face-down (back wall on bed).
|
// Knuckle end (Z=0 here) has M3 pivot bore and a detent ball spring
|
||||||
// ─────────────────────────────────────────────────────────────
|
// plunger pocket that indexes into wall_base ear detent arc.
|
||||||
module module_bracket() {
|
// Cradle end (+Z) has two M3 attachment bores for anchor_cradle.
|
||||||
bk = BRKT_BACK_T;
|
// USB-C cable channel runs along outer face (+Y) of arm.
|
||||||
sd = BRKT_SIDE_T;
|
// Arm width = ARM_W; constrained to fit between base ears.
|
||||||
|
//
|
||||||
|
// Print: flat (knuckle face down), PETG, 5 perims, 40 % gyroid.
|
||||||
|
module tilt_arm() {
|
||||||
|
total_h = ARM_L + 10; // includes knuckle boss height
|
||||||
|
|
||||||
difference() {
|
difference() {
|
||||||
union() {
|
union() {
|
||||||
// ── Back wall (mounts to collar arm boss) ─────────
|
// ── Arm body ─────────────────────────────────────────────────
|
||||||
cube([ARM_W, bk, MAWB_H + M2_STNDFF + 6]);
|
translate([-ARM_W/2, 0, 0])
|
||||||
|
cube([ARM_W, ARM_T, total_h]);
|
||||||
|
|
||||||
// ── Side walls ────────────────────────────────────
|
// ── Knuckle boss (pivot end, Z=0) ────────────────────────────
|
||||||
for (sx=[0, ARM_W - sd])
|
translate([0, ARM_T/2, 0])
|
||||||
translate([sx, bk, 0])
|
rotate([90, 0, 0])
|
||||||
cube([sd, MAWB_L + 2, MAWB_H + M2_STNDFF + 6]);
|
cylinder(d = ARM_W, h = ARM_T, center = true);
|
||||||
|
|
||||||
// ── M2 standoff posts (PCB mounts to these) ───────
|
// ── Cradle attach boss (Z = ARM_L) ───────────────────────────
|
||||||
for (hx=[0, MAWB_HOLE_X], hy=[0, MAWB_HOLE_Y])
|
translate([-ARM_W/2, 0, ARM_L])
|
||||||
translate([(ARM_W - MAWB_HOLE_X)/2 + hx,
|
cube([ARM_W, ARM_T + CRADLE_BACK_T, ARM_T]);
|
||||||
bk + (MAWB_L - MAWB_HOLE_Y)/2 + hy,
|
|
||||||
0])
|
|
||||||
cylinder(d=M2_STNDFF_OD, h=M2_STNDFF);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// ── M2 bores through standoffs ────────────────────────
|
// ── M3 pivot bore (through knuckle, X axis) ───────────────────────
|
||||||
for (hx=[0, MAWB_HOLE_X], hy=[0, MAWB_HOLE_Y])
|
translate([-ARM_W/2 - e, ARM_T/2, 0])
|
||||||
translate([(ARM_W - MAWB_HOLE_X)/2 + hx,
|
rotate([0, 90, 0])
|
||||||
bk + (MAWB_L - MAWB_HOLE_Y)/2 + hy,
|
cylinder(d = PIVOT_D, h = ARM_W + 2*e);
|
||||||
-e])
|
|
||||||
cylinder(d=M2_D, h=M2_STNDFF + e);
|
|
||||||
|
|
||||||
// ── Antenna clearance cutout in back wall ─────────────
|
// ── Detent plunger pocket (spring-ball indexing, +Y face) ─────────
|
||||||
// Open slot near top of back wall so antenna is unobstructed
|
// 3 mm dia × 4 mm deep pocket on knuckle outer face
|
||||||
translate([sd, -e, M2_STNDFF + 2])
|
translate([0, ARM_T + e, 0])
|
||||||
cube([ARM_W - 2*sd, bk + 2*e, MAWB_H]);
|
rotate([90, 0, 0])
|
||||||
|
cylinder(d = 3.2, h = 4 + e);
|
||||||
|
|
||||||
// ── USB port access notch on one side wall ────────────
|
// ── USB-C cable channel (outer face +Y, runs full arm length) ─────
|
||||||
translate([-e, bk + 2, M2_STNDFF - 1])
|
translate([-USBC_CHAN_W/2, ARM_T - e, ARM_T + 4])
|
||||||
cube([sd + 2*e, USB_NOTCH_W, USB_NOTCH_H]);
|
cube([USBC_CHAN_W, USBC_CHAN_H, ARM_L - ARM_T - 4 - 4]);
|
||||||
|
|
||||||
// ── Mounting holes to collar arm boss (×2) ────────────
|
// ── Cradle attach bolt holes (2× M3, at cradle end) ──────────────
|
||||||
for (dx=[-ARM_W/4, ARM_W/4])
|
for (bx = [-ARM_W/4, ARM_W/4])
|
||||||
translate([ARM_W/2 + dx, bk + ARM_L/2, -e])
|
translate([bx, ARM_T/2, ARM_L + ARM_T/2])
|
||||||
cylinder(d=COL_BOLT_D, h=6 + e);
|
rotate([90, 0, 0])
|
||||||
|
cylinder(d = M3_D, h = ARM_T + CRADLE_BACK_T + 2*e);
|
||||||
|
|
||||||
|
// ── M3 nut pockets (rear of cradle attach boss) ───────────────────
|
||||||
|
for (bx = [-ARM_W/4, ARM_W/4])
|
||||||
|
translate([bx, ARM_T/2, ARM_L + ARM_T/2])
|
||||||
|
rotate([-90, 0, 0])
|
||||||
|
cylinder(d = M3_NUT_AF / cos(30),
|
||||||
|
h = M3_NUT_H + 0.5, $fn = 6);
|
||||||
|
|
||||||
|
// ── Lightening pocket in arm body ─────────────────────────────────
|
||||||
|
translate([0, ARM_T/2, ARM_L/2])
|
||||||
|
cube([ARM_W - 4, ARM_T - 2, ARM_L - 18], center = true);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// ─────────────────────────────────────────────────────────────
|
// ============================================================
|
||||||
// single_anchor_assembly()
|
// PART 3 — ANCHOR CRADLE
|
||||||
// ─────────────────────────────────────────────────────────────
|
// ============================================================
|
||||||
module single_anchor_assembly(show_phantom=false) {
|
// Open-front U-cradle holding the ESP32 UWB Pro PCB.
|
||||||
// Collar
|
// PCB retained on 4× M2.5 standoffs (UWB_HOLE_X × UWB_HOLE_Y pattern).
|
||||||
color("SteelBlue", 0.9) collar_half("front");
|
// Back wall has:
|
||||||
color("CornflowerBlue", 0.9) mirror([0,1,0]) collar_half("rear");
|
// • USB-C exit slot (centred on PCB short edge, near floor)
|
||||||
|
// • Label window slot (top half of back wall) — insert printed
|
||||||
|
// card strip to identify anchor ID (e.g. "UWB-A3 NE-CORNER")
|
||||||
|
// Front retaining lip prevents PCB from sliding forward.
|
||||||
|
// Antenna keep-out: top face is fully open; back wall material
|
||||||
|
// stays below UWB_ANTENNA_L from PCB rear so antenna is unobstructed.
|
||||||
|
//
|
||||||
|
// Cradle attaches to tilt_arm via 2× M3 bolts through back wall tabs.
|
||||||
|
//
|
||||||
|
// Print: back wall flat on bed, PETG, 5 perims, 40 % gyroid.
|
||||||
|
module anchor_cradle() {
|
||||||
|
outer_l = UWB_L + 2*CRADLE_WALL_T;
|
||||||
|
outer_w = UWB_W + CRADLE_FLOOR_T;
|
||||||
|
pcb_z = CRADLE_FLOOR_T + STANDOFF_H;
|
||||||
|
|
||||||
// Bracket tilted BRKT_TILT° outward from top of arm boss
|
difference() {
|
||||||
color("LightSteelBlue", 0.85)
|
union() {
|
||||||
translate([0, COL_OD/2 + ARM_L, COL_H * 0.3])
|
// ── Cradle body ───────────────────────────────────────────────
|
||||||
rotate([BRKT_TILT, 0, 0])
|
translate([-outer_l/2, 0, 0])
|
||||||
translate([-ARM_W/2, 0, 0])
|
cube([outer_l, outer_w, UWB_H + pcb_z + 2]);
|
||||||
module_bracket();
|
|
||||||
|
|
||||||
// Phantom UWB PCB
|
// ── Front retaining lip ───────────────────────────────────────
|
||||||
if (show_phantom)
|
translate([-outer_l/2, outer_w - CRADLE_LIP_T, 0])
|
||||||
color("ForestGreen", 0.4)
|
cube([outer_l, CRADLE_LIP_T, CRADLE_LIP_H]);
|
||||||
translate([-MAWB_L/2,
|
|
||||||
COL_OD/2 + ARM_L + BRKT_BACK_T,
|
// ── Arm attachment tabs (extend behind back wall) ─────────────
|
||||||
COL_H * 0.3 + M2_STNDFF])
|
for (tx = [-ARM_W/4, ARM_W/4])
|
||||||
cube([MAWB_L, MAWB_W, MAWB_H]);
|
translate([tx - 4, -CRADLE_BACK_T, 0])
|
||||||
|
cube([8, CRADLE_BACK_T + 1, UWB_H + pcb_z + 2]);
|
||||||
|
}
|
||||||
|
|
||||||
|
// ── PCB pocket (hollow interior) ──────────────────────────────────
|
||||||
|
translate([-UWB_L/2, 0, pcb_z])
|
||||||
|
cube([UWB_L, UWB_W + 1, UWB_H + 4]);
|
||||||
|
|
||||||
|
// ── 4× M2.5 standoff bores (hole through cradle floor) ────────────
|
||||||
|
for (hx = [-UWB_HOLE_X/2, UWB_HOLE_X/2])
|
||||||
|
for (hy = [CRADLE_FLOOR_T/2, CRADLE_FLOOR_T/2 + UWB_HOLE_Y])
|
||||||
|
translate([hx, hy, -e])
|
||||||
|
cylinder(d = M2P5_D, h = pcb_z + 2*e);
|
||||||
|
|
||||||
|
// ── M2.5 standoff boss subtraction (leave boss, subtract floor) ──
|
||||||
|
// (bosses are the remaining solid cylinders after hollowing pocket)
|
||||||
|
|
||||||
|
// ── USB-C exit slot (back wall, aligned to PCB short edge) ────────
|
||||||
|
// PCB USB-C is on −Y face (back wall side); slot through back wall
|
||||||
|
translate([0, -CRADLE_BACK_T - e, pcb_z + UWB_H/2 - UWB_USBC_H/2])
|
||||||
|
cube([UWB_USBC_W + 2, CRADLE_BACK_T + 2*e, UWB_USBC_H + 2],
|
||||||
|
center = [true, false, false]);
|
||||||
|
|
||||||
|
// ── USB-C cable routing groove (outer face of back wall) ──────────
|
||||||
|
translate([0, -CRADLE_BACK_T - e, -e])
|
||||||
|
cube([USBC_CHAN_W, USBC_CHAN_H, pcb_z + UWB_H/2 + USBC_CHAN_H],
|
||||||
|
center = [true, false, false]);
|
||||||
|
|
||||||
|
// ── Label card slot (back wall exterior, top half) ────────────────
|
||||||
|
// Insert paper/card label strip to identify this anchor instance
|
||||||
|
translate([0, -CRADLE_BACK_T - e, pcb_z + UWB_H/2])
|
||||||
|
cube([LABEL_W, LABEL_T + 0.3, LABEL_H],
|
||||||
|
center = [true, false, false]);
|
||||||
|
|
||||||
|
// ── Antenna keep-out cutout in back wall top section ──────────────
|
||||||
|
// Remove material from back wall above antenna line so PETG does
|
||||||
|
// not block UWB signal from the rear half of PCB
|
||||||
|
translate([0, -e, pcb_z + UWB_H - UWB_ANTENNA_L])
|
||||||
|
cube([UWB_L - 4, CRADLE_BACK_T + 2*e, UWB_ANTENNA_L + 4],
|
||||||
|
center = [true, false, false]);
|
||||||
|
|
||||||
|
// ── Arm attachment bolt holes (through back wall tabs) ────────────
|
||||||
|
for (tx = [-ARM_W/4, ARM_W/4])
|
||||||
|
translate([tx, ARM_T/2 - CRADLE_BACK_T, UWB_H/2 + pcb_z/2])
|
||||||
|
rotate([-90, 0, 0])
|
||||||
|
cylinder(d = M3_D, h = ARM_T + CRADLE_BACK_T + 2*e);
|
||||||
|
|
||||||
|
// ── Lightening slots in side walls ────────────────────────────────
|
||||||
|
for (side = [-outer_l/2 - e, outer_l/2 - CRADLE_WALL_T - e])
|
||||||
|
translate([side, 2, pcb_z + 2])
|
||||||
|
cube([CRADLE_WALL_T + 2*e, UWB_W - 4, UWB_H - 4]);
|
||||||
|
}
|
||||||
|
|
||||||
|
// ── M2.5 standoff posts (positive geometry, inside cradle) ────────────
|
||||||
|
for (hx = [-UWB_HOLE_X/2, UWB_HOLE_X/2])
|
||||||
|
for (hy = [CRADLE_FLOOR_T/2, CRADLE_FLOOR_T/2 + UWB_HOLE_Y])
|
||||||
|
difference() {
|
||||||
|
translate([hx, hy, CRADLE_FLOOR_T - e])
|
||||||
|
cylinder(d = STANDOFF_OD, h = STANDOFF_H + e);
|
||||||
|
translate([hx, hy, CRADLE_FLOOR_T - 2*e])
|
||||||
|
cylinder(d = M2P5_D, h = STANDOFF_H + 4);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// ─────────────────────────────────────────────────────────────
|
// ============================================================
|
||||||
// Render selector
|
// PART 4 — CABLE CLIP
|
||||||
// ─────────────────────────────────────────────────────────────
|
// ============================================================
|
||||||
if (RENDER == "assembly") {
|
// Snap-on C-clip retaining USB-C cable along tilt_arm outer face.
|
||||||
single_anchor_assembly(show_phantom=true);
|
// Presses onto arm edge (ARM_T width) with flexible PETG snap tongues.
|
||||||
|
// Cable sits in semicircular channel; open front for push-in install.
|
||||||
|
// Print ×2–3 per anchor (space 25 mm apart along arm).
|
||||||
|
//
|
||||||
|
// Print: clip-opening face down, PETG, 3 perims, 20 % infill.
|
||||||
|
module cable_clip() {
|
||||||
|
ch_r = CLIP_CABLE_D/2 + CLIP_T; // channel outer radius
|
||||||
|
snap_t = 1.6; // snap tongue thickness
|
||||||
|
|
||||||
} else if (RENDER == "collar_front") {
|
difference() {
|
||||||
collar_half("front");
|
union() {
|
||||||
|
// ── Body plate (sits on arm face) ─────────────────────────────
|
||||||
|
translate([-CLIP_BODY_W/2, 0, 0])
|
||||||
|
cube([CLIP_BODY_W, CLIP_T, CLIP_BODY_H]);
|
||||||
|
|
||||||
} else if (RENDER == "collar_rear") {
|
// ── Cable channel (C-shape, opening toward +Y) ────────────────
|
||||||
collar_half("rear");
|
translate([0, CLIP_T + ch_r, CLIP_BODY_H/2])
|
||||||
|
rotate([0, 90, 0])
|
||||||
|
difference() {
|
||||||
|
cylinder(r = ch_r, h = CLIP_BODY_W, center = true);
|
||||||
|
cylinder(r = CLIP_CABLE_D/2, h = CLIP_BODY_W + 2*e,
|
||||||
|
center = true);
|
||||||
|
translate([0, ch_r + e, 0])
|
||||||
|
cube([CLIP_CABLE_D * 0.85,
|
||||||
|
ch_r * 2 + 2*e,
|
||||||
|
CLIP_BODY_W + 2*e], center = true);
|
||||||
|
}
|
||||||
|
|
||||||
} else if (RENDER == "bracket") {
|
// ── Snap tongues (straddle arm edges, -Y side of body plate) ──
|
||||||
module_bracket();
|
for (tx = [-CLIP_BODY_W/2 + 1.5, CLIP_BODY_W/2 - 1.5 - snap_t])
|
||||||
|
translate([tx, -ARM_T - 1, 0])
|
||||||
|
cube([snap_t, ARM_T + 1 + CLIP_T, CLIP_BODY_H]);
|
||||||
|
|
||||||
} else if (RENDER == "pair") {
|
// ── Snap barbs (grip underside of arm) ────────────────────────
|
||||||
// Both anchors at 250 mm spacing on a stem stub
|
for (tx = [-CLIP_BODY_W/2 + 1.5, CLIP_BODY_W/2 - 1.5 - snap_t])
|
||||||
color("Silver", 0.2)
|
translate([tx + snap_t/2, -ARM_T - 1, CLIP_BODY_H/2])
|
||||||
translate([0, 0, -50])
|
rotate([0, 90, 0])
|
||||||
cylinder(d=STEM_OD, h=ANCHOR_SPACING + COL_H + 100);
|
cylinder(d = 2, h = snap_t, center = true);
|
||||||
|
}
|
||||||
|
|
||||||
// Lower anchor (Z = 0)
|
// ── Arm slot (arm body passes between tongues) ─────────────────────
|
||||||
single_anchor_assembly(show_phantom=true);
|
translate([0, -ARM_T - 1 - e, CLIP_BODY_H/2])
|
||||||
|
cube([CLIP_BODY_W - 6, ARM_T + 2, CLIP_BODY_H - 4], center = true);
|
||||||
// Upper anchor (Z = ANCHOR_SPACING)
|
}
|
||||||
translate([0, 0, ANCHOR_SPACING])
|
|
||||||
single_anchor_assembly(show_phantom=true);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user