CAD Models - gregory-j-r/Anki-Vector-ROS2 GitHub Wiki

Lighter Cube

Vectors LightCube is a very useful tool when creating challenges for Vector robots to accomplish. It can be found by vectors camera and there are built in functions for docking with and picking up the cube. But it has some flaws, namely that it is too heavy for sustained lifting. A CAD model was created in Onshape of vectors cube, with some small changes being made, allowing for a lighter option to be 3D printed. Symbols can then be printed and attached to the faces of the custom cube.

Design choices were centered around making the Cube lighter and easier for Vector to pick up. Where possible the cube was made hollow, and any non vital section was cut out entirely. 1 large change was the removal of both the upper and lower faces as they are unnecessary in almost every circumstance. Another change is that the cutouts for Vectors hands to dock with the cube were enlarged so that docking became easier.

Directional Cube

Both the stock LIghtCube and the custom Lighter Cube suffer from the same flaw that there was no place to easily mount printed (on paper) letters, which are attached to the cubes for specific demos (spelling words etc.). That is why the Directional cube was created, to give a place for these letters.

The Directional cube offers plates above where the Lightcube symbols are to be placed to allow for easy mounting of other symbols. The design was also simplified greatly to cut down on printing times and weight.

Ramp

A CAD model of a ramp was created with the intention that it would be able to be picked up, moved, and used by Vector.

To lower printing times and material consumption the ramp was broken into 2 parts, the Ramp Base, and the Ramp Plate. The plate is the flat bit that the robot actually drives on. It has a cutout in the center to cut down on material consumption as that section falls between the robot's wheels and is not used. The base is designed to be picked up with the custom Forklift (next CAD model), and includes plates on its sides for putting symbols.

Forklift

The custom Forklift was designed to pick up large objects which are too big for vector to hold in his little hands (they tend to tip out of the hands). They are designed with cutouts that fit Vectors hands, and it is specifically long enough to accommodate the previously discussed Ramp.

Onshape Links