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feat: Camera gimbal mount for RealSense D435i (Issue #552) #556

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sl-jetson merged 1 commits from sl-mechanical/issue-552-gimbal-mount into main 2026-03-14 11:36:34 -04:00
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sl-jetson commented 2026-03-14 10:28:58 -04:00
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Summary

  • Parametric OpenSCAD 2-axis pan/tilt gimbal mount for Intel RealSense D435i on 2020 T-slot rail
  • ST3215 serial bus servo interface (25T spline horn, 4× M3 on Ø24 mm BC) for both pan and tilt axes
  • Camera retained via captured 1/4-20 UNC hex nut in cradle floor (standard tripod interface)
  • USB-C cable routing channel exits right rear of cradle with 12×8 mm clearance
  • PETG flexure rib vibration-damping pads on camera contact faces (TPU 95A optional)

Parts

STL export Description
gcm_tnut_base.stl 2020 rail T-nut base + pan servo seat
gcm_pan_yoke.stl U-yoke connecting pan servo to tilt axis
gcm_tilt_horn_plate.stl Disc plate bolting to tilt servo horn
gcm_camera_cradle.stl D435i cradle with 1/4-20 captured nut + USB-C channel
gcm_vibe_pad.stl Flexure damping pad ×2 (PETG or TPU 95A)

Hardware BOM

  • 2× ST3215 serial bus servo (pan + tilt)
  • 8× M3 × 8 mm SHCS (horn bolts, 4 per horn)
  • 1× M3 × 16 mm SHCS + nut (rail clamp thumbscrew)
  • 1× 1/4-20 UNC × 8 mm + captured hex nut (camera retention)
  • 4× M3 × 12 mm SHCS (tilt pivot axle)

Parametric overrides

Camera envelope: change CAM_W / CAM_D / CAM_H to adapt to other box cameras.

Test plan

  • Render all RENDER targets in OpenSCAD — no geometry errors
  • Verify 1/4-20 nut pocket fits standard 11.1 mm AF hex nut
  • Verify ST3215 horn bolt circle (Ø24 mm, 4× M3) aligns in tilt_horn_plate and pan_yoke base
  • Slice all STLs in PrusaSlicer — confirm no supports needed
  • Print gcm_tnut_base.stl, test fit on 2020 rail
  • Print gcm_camera_cradle.stl, test fit D435i with USB-C cable routed

🤖 Generated with Claude Code

## Summary - Parametric OpenSCAD 2-axis pan/tilt gimbal mount for Intel RealSense D435i on 2020 T-slot rail - ST3215 serial bus servo interface (25T spline horn, 4× M3 on Ø24 mm BC) for both pan and tilt axes - Camera retained via captured 1/4-20 UNC hex nut in cradle floor (standard tripod interface) - USB-C cable routing channel exits right rear of cradle with 12×8 mm clearance - PETG flexure rib vibration-damping pads on camera contact faces (TPU 95A optional) ## Parts | STL export | Description | |---|---| | `gcm_tnut_base.stl` | 2020 rail T-nut base + pan servo seat | | `gcm_pan_yoke.stl` | U-yoke connecting pan servo to tilt axis | | `gcm_tilt_horn_plate.stl` | Disc plate bolting to tilt servo horn | | `gcm_camera_cradle.stl` | D435i cradle with 1/4-20 captured nut + USB-C channel | | `gcm_vibe_pad.stl` | Flexure damping pad ×2 (PETG or TPU 95A) | ## Hardware BOM - 2× ST3215 serial bus servo (pan + tilt) - 8× M3 × 8 mm SHCS (horn bolts, 4 per horn) - 1× M3 × 16 mm SHCS + nut (rail clamp thumbscrew) - 1× 1/4-20 UNC × 8 mm + captured hex nut (camera retention) - 4× M3 × 12 mm SHCS (tilt pivot axle) ## Parametric overrides Camera envelope: change CAM_W / CAM_D / CAM_H to adapt to other box cameras. ## Test plan - [ ] Render all RENDER targets in OpenSCAD — no geometry errors - [ ] Verify 1/4-20 nut pocket fits standard 11.1 mm AF hex nut - [ ] Verify ST3215 horn bolt circle (Ø24 mm, 4× M3) aligns in tilt_horn_plate and pan_yoke base - [ ] Slice all STLs in PrusaSlicer — confirm no supports needed - [ ] Print gcm_tnut_base.stl, test fit on 2020 rail - [ ] Print gcm_camera_cradle.stl, test fit D435i with USB-C cable routed 🤖 Generated with [Claude Code](https://claude.com/claude-code)
sl-jetson added 1 commit 2026-03-14 10:28:59 -04:00
sl-jetson merged commit 0dbd64a6f4 into main 2026-03-14 11:36:33 -04:00
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Reference: seb/saltylab-firmware#556
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