sl-mechanical
23f2daa3cd
Part of Phase 2 sensor mount designs for SaltyBot 25 mm mast. Files added: chassis/sensor_head.scad — split collar (25 mm OD stem) + octagonal platform chassis/rplidar_mount.scad — anti-vibration ring for RPLIDAR A1M8 (Ø58 mm BC) chassis/realsense_mount.scad — RealSense D435i arm bracket, 10° tilt, 1/4-20 nut chassis/imx219_mount.scad — 4× IMX219 radial arms, 10° tilt, CSI ribbon slot chassis/sensor_head_assembly.md — assembly diagram + fastener BOM + print settings Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
115 lines
5.2 KiB
OpenSCAD
115 lines
5.2 KiB
OpenSCAD
// ============================================================
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// realsense_mount.scad — RealSense D435i Bracket Rev A
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// Agent: sl-mechanical 2026-02-28
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// ============================================================
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// Single-piece bracket. Bolts to sensor_head platform front
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// face via 2× M4 bolts. Holds D435i at 10° nose-down tilt.
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//
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// RealSense D435i specs used:
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// Body: 90 × 25 × 25 mm (W × H × D)
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// Mount: 1/4-20 UNC female (bottom centre)
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//
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// Print orientation: flat base face on build plate — no supports.
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//
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// RENDER options:
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// "bracket" print-ready single piece (default)
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// "assembly" bracket + camera outline
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// ============================================================
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RENDER = "bracket";
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// ── Camera body ──────────────────────────────────────────────
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CAM_W = 90.0; // camera width
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CAM_H = 25.0; // camera height
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CAM_D = 25.0; // camera depth
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// ── Bracket geometry ─────────────────────────────────────────
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BASE_W = 40.0; // base plate width (Y direction)
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BASE_D = 20.0; // base plate depth (X direction)
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BASE_H = 8.0; // base plate thickness (Z direction)
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ARM_W = 24.0; // arm width
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ARM_H = 8.0; // arm thickness
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ARM_LEN = 75.0; // arm length (X direction from base edge)
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FACE_W = 30.0; // camera face plate width
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FACE_D = 8.0; // face plate thickness (holds camera)
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TILT = 10.0; // nose-down tilt (degrees)
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// ── Fasteners ────────────────────────────────────────────────
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M4_D = 4.5; // M4 clearance hole
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M4_DY = 18.0; // half-spacing of base attachment holes
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// ← must match sensor_head ARM_DY_RS
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// 1/4-20 UNC: tap drill ≈ 5.5 mm.
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// We print a nut pocket for a 1/4-20 hex nut captured in the face.
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NUT1420_AF = 11.1; // 1/4-20 hex nut across-flats (7/16")
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NUT1420_H = 5.6; // 1/4-20 hex nut thickness (7/32")
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NUT1420_BORE= 6.5; // 1/4-20 bolt clearance through face
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NUT_POCKET_EXTRA = 0.4; // print clearance on nut pocket
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$fn = 64;
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e = 0.01;
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// ─────────────────────────────────────────────────────────────
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module realsense_bracket() {
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union() {
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// ── Base plate (attaches to platform top) ────────────
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difference() {
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translate([-BASE_D, -BASE_W/2, 0])
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cube([BASE_D, BASE_W, BASE_H]);
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// 2× M4 holes through base, ±ARM_DY_RS
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for (dy = [-M4_DY, M4_DY])
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translate([-BASE_D/2, dy, -e])
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cylinder(d = M4_D, h = BASE_H + 2*e);
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}
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// ── Arm extending in +X direction ────────────────────
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difference() {
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hull() {
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translate([0, -ARM_W/2, 0]) cube([e, ARM_W, ARM_H]);
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translate([ARM_LEN,-ARM_W/2, 0]) cube([e, ARM_W, ARM_H]);
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}
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// No internal cuts here — arm is solid for rigidity
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}
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// ── Camera face plate at arm tip, tilted TILT° down ──
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translate([ARM_LEN, 0, ARM_H/2])
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rotate([0, TILT, 0])
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translate([0, 0, -ARM_H/2])
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difference() {
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translate([0, -FACE_W/2, 0])
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cube([FACE_D, FACE_W, CAM_H + 6]);
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// 1/4-20 hex nut pocket (captured, opens toward +X)
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translate([FACE_D - NUT1420_H, 0, (CAM_H + 6)/2])
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rotate([0, 90, 0])
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cylinder(d = (NUT1420_AF + NUT_POCKET_EXTRA) / cos(30),
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h = NUT1420_H + e, $fn = 6);
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// 1/4-20 bore through full face depth
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translate([-e, 0, (CAM_H + 6)/2])
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rotate([0, 90, 0])
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cylinder(d = NUT1420_BORE, h = FACE_D + 2*e);
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}
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}
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}
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// ─────────────────────────────────────────────────────────────
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// Render selector
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// ─────────────────────────────────────────────────────────────
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if (RENDER == "bracket") {
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realsense_bracket();
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} else if (RENDER == "assembly") {
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color("LightGray", 0.9) realsense_bracket();
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// Camera body outline
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translate([ARM_LEN, 0, ARM_H/2])
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rotate([0, TILT, 0])
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translate([FACE_D, -CAM_W/2, -(CAM_H/2 + 3)])
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color("DimGray", 0.6)
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cube([CAM_D, CAM_W, CAM_H]);
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}
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