sl-mechanical
cd9299ded8
OpenSCAD parametric model for SaltyBot two-wheeled self-balancing robot chassis: - 600mm wheelbase, 170mm hoverboard hub motor fork dropouts - MAMBA F722S FC mount (30.5x30.5mm M3 pattern, 6mm nylon standoffs) - Battery tray for 24V 4Ah pack (185x72x52mm) with strap slots + vent holes - Jetson Nano B01 mount plate (58x58mm M3 pattern, 8mm standoffs) - Front/rear bumper brackets with 22mm EMT conduit saddle clamps - Longitudinal ribs, lightening holes, cable routing slots - BOM (32 line items) and step-by-step assembly notes Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
103 lines
3.9 KiB
Markdown
103 lines
3.9 KiB
Markdown
# SaltyBot Chassis — Bill of Materials
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**Task:** bd-1iy5
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**Rev:** A — 2026-02-28
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**Agent:** sl-mechanical
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---
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## Structural / Fabricated Parts
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| # | Part | Qty | Material | Notes |
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|---|------|-----|----------|-------|
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| 1 | Main deck plate | 1 | 6mm 5052 aluminium plate, 640×220mm | CNC router or waterjet; all holes per `chassis_frame.scad` |
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| 2 | Longitudinal rib (front) | 1 | 4mm 5052 aluminium, 600×40mm | Laser-cut; press-fit into deck slots |
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| 3 | Longitudinal rib (rear) | 1 | 4mm 5052 aluminium, 600×40mm | Same file, symmetric |
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| 4 | Motor fork bracket (L) | 1 | 8mm 6061 aluminium | CNC mill or FDM PETG @100% infill for prototyping |
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| 5 | Motor fork bracket (R) | 1 | 8mm 6061 aluminium | Mirror of item 4 |
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| 6 | Battery tray | 1 | 3mm PETG FDM or 3mm aluminium fold | `chassis_frame.scad` — `battery_tray()` module |
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| 7 | FC mount plate / standoffs | 1 set | PETG or nylon FDM | Includes 4× M3 nylon standoffs, 6mm height |
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| 8 | Jetson Nano mount plate | 1 | 4mm 5052 aluminium or 4mm PETG FDM | B01 58×58mm hole pattern |
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| 9 | Front bumper bracket | 1 | 5mm PETG FDM | Saddle clamps for 22mm EMT conduit |
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| 10 | Rear bumper bracket | 1 | 5mm PETG FDM | Mirror of item 9 |
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---
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## Motors
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| # | Part | Qty | Source / Spec | Notes |
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|---|------|-----|---------------|-------|
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| 11 | Hoverboard hub motor | 2 | Generic 6.5" / 170mm OD, 36V nominal | ~350W each; 14mm flat axle; confirm exact OD before cutting fork slots |
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| 12 | Motor hall-sensor cable extension | 2 | 6-pin JST-PH 300mm | Route through deck cable slot |
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## Electronics Mounts
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| # | Part | Qty | Spec | Notes |
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|---|------|-----|------|-------|
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| 13 | STM32 MAMBA F722S FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front |
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| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | FC vibration isolation |
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| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under FC mount pads |
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| 16 | Jetson Nano B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
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| 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs |
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## Battery
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| # | Part | Qty | Spec | Notes |
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|---|------|-----|------|-------|
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| 18 | LiPo / LiFePO4 pack | 1 | 24V (6S LiPo or 8S LiFePO4), 4Ah, ≤185×72×52mm | Confirm dims before printing tray; add 2mm clearance |
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| 19 | Velcro strap 20mm wide | 2 | 300mm length | Route through tray strap slots |
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| 20 | BMS board | 1 | Matched to cell chemistry | Mount externally on rear inner face of tray wall |
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## Bumper Rail
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| # | Part | Qty | Spec | Notes |
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|---|------|-----|------|-------|
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| 21 | 3/4" EMT conduit | 2 | 22mm OD, 660mm length | Front and rear bumper rail; bent or straight |
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| 22 | Conduit saddle clamp M4 | 6 | 3D-printed integral to bracket (items 9/10) | Back-up: standard pipe clamp 22mm |
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---
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## Fasteners
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| # | Part | Qty | Spec |
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|---|------|-----|------|
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| 23 | M5×16 SHCS | 24 | ISO 4762, SS |
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| 24 | M5 hex nut | 24 | ISO 4032, SS |
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| 25 | M4×12 SHCS | 12 | ISO 4762, SS |
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| 26 | M4 hex nut | 12 | ISO 4032, SS |
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| 27 | M3×10 SHCS | 20 | ISO 4762, SS |
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| 28 | M3 hex nut | 20 | ISO 4032, SS |
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| 29 | M3×6 BHCS | 8 | FC + Jetson board bolts |
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| 30 | M14×1.5 axle nut | 4 | One each side per motor, flanged | Confirm axle thread pitch on actual motors |
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| 31 | Serrated washer M14 | 4 | Axle anti-rotation |
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| 32 | Flat washer M5 | 48 | SS |
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---
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## Tools Required for Assembly
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- Torque wrench (M14 axle nuts: 35–40 N·m; M5: 4 N·m)
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- M2.5 / M3 / M4 / M5 hex drivers
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- Thread locker (Loctite 243 blue for all structural fasteners)
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- Dial caliper — verify motor OD, axle flat before machining fork slot
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---
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## Estimated Masses
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| Assembly | Est. mass |
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|----------|-----------|
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| Aluminium deck + ribs | ~1.1 kg |
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| Motor forks (×2 Al) | ~0.4 kg |
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| Motors (×2) | ~3.6 kg |
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| Battery (6S 4Ah LiPo) | ~0.7 kg |
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| Electronics (FC + Jetson + wiring) | ~0.5 kg |
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| Bumpers + brackets | ~0.3 kg |
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| Fasteners | ~0.2 kg |
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| **Total estimate** | **~6.8 kg** |
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