ZURI 03 - ROBOTER PLATFORM - 3D print model
ZURI 03 is a robust robot platform that can be printed on an FDM printer. The simple construction makes assembly absolutely easy.
Each ZURI component is lovingly designed. During the designprocess special care was taken to ensure that the 3D printing process is as frustrating-free as possible. That is why you should definitely pay attention to the object orientation (Slide: object orientation) on the buildplate! Also the stability of the components depends on the correct alignment. In addition, support structures are not necessary then.
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ATTENTION: This package only contains the listed STL files (please see: List of included print items) for 3d printing. All other components such as servos, screws, ball bearings, Arduino, etc. (please see: List of NOT included components) must be purchased additionally in appropriate shops.
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Baseplates
The ZURI STL package includes two basic baseplates for the legs. The large baseplate A (T16) can accommodate four ZURI legs. Four holes are positioned on this plate for free use. Feel free to connect a random plate with your favorite electronic setup (PCB, Sensors and batteries) on baseplate A (T16). The baseplate B (T11) allows you to attach the ZURI leg to a wide variety of objects. For example, a metal box or a plastic Eurobox could be equipped with four, six, eight, sixteen or even more ZURI-legs! WOW! This can significantly increase the level of difficulty in terms of leg coordination and code.
Leg
The ZURI leg is simply structured. It consists of foot, hinge and hip (2dof version). The assembly is very simple and can be explained at the hip very well: The hip consists of two shells (T09 and T10) and the clamp elements (T04 and T12). First, one of the shells is equipped with a servo motor, a ball bearing and four nuts. The second shell is then placed on. The clamp-elements (T04 and T12) are pushed on. These are finally fixed with screws. Please also see the pictures for the structure of the foot and joint group. Once the leg is mounted, it can be fixed to the baseplate. Since there are two baseplates (T16 and T11) available and also two hip versions (Version A = T09 + T10 / Version B = T14 + T15) you can combine that in several ways. The ZURI leg can be attached in combination with the baseplate B (T11) either under a box or to the side of a box (Please see the slides: Option A, Option B and Option C).
List of included print items (Format: STL):
- ZURI_STL_T01
- ZURI_STL_T02
- ZURI_STL_T03
- ZURI_STL_T04
- ZURI_STL_T05
- ZURI_STL_T06 (Print this with rubber material e.g. TPU)
- ZURI_STL_T07
- ZURI_STL_T08
- ZURI_STL_T09
- ZURI_STL_T10
- ZURI_STL_T11
- ZURI_STL_T12
- ZURI_STL_T13
- ZURI_STL_T14
- ZURI_STL_T15
- ZURI_STL_T16
- ZURI_STL_T17
- ZURI_STL_T18
3D Print Settings:
- Material: PLA
- Default settings
- 0.2mm layer hight
- 15% infill
- No support structure necessary
- Print bed size of at least 120mm x 120 mm
- Note the object orientation on baseplate
Print as much as you can. Two, four, eight, one thousend robot legs...
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Servo motors (not included)
The ZURI leg is based on “standard servo motors”. The word “standard” is a bit misleading, because almost all manufacturers build almost identical servos with minimal differences in thickness, width, axis position and so on... When using different servos, the different dimensions of the servo housing can mean that the components are not properly coordinated with one another.
Here is a list of servo motors that can be easily integrated into the ZURI 03 robot platform:
- MG 995
- MG 996R
- FS 5115M
- HS 5645 MG (only with adapter: T17)
- HS 625 MG (only with adapter: T17)
- HS 311 (only with adapter: T17 + T18)
Servo motors with metal gears are recommended, as the loads during operation are not insignificant. In addition, the servos should have enough torque! In my personal experience with the ZURI Paperbot, 35 Ncm is the lower limit. More torque is much better!
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BOM list for a ZURI-leg – OPTION A
List of included print items (Format: STL):
- T01 print 1x
- T02 print 1x
- T03 print 2x
- T04 print 2x
- T05 print 2x
- T06 print 1x (Print this with rubber material e.g. TPU)
- T07 print 2x
- T08 print 4x
- T09 print 1x
- T10 print 1x
- T12 print 1x
- T13 print 1x
List of NOT included components:
- 2x Servomotor
- 10x Self locking screw nuts - DIN 985 A2 M3
- 2x Ball-bearing 3x7mm
- 6x Lens flange head screw - ISO 7380 A2 M3x10mm Flange Torx
- 2x Lens flange head screw - ISO 7380 A2 M3x16mm Flange Torx
- 2x Lens flange head screw - ISO 7380 A2 M3x12mm Flange Torx
- 4x Pan head sheet metal screw - DIN 7981 A2 M2.2x9.5 Torx or Phillipps
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BOM list for a ZURI-leg – OPTION B
List of included print items (Format: STL):
- T01 print 1x
- T02 print 1x
- T03 print 2x
- T04 print 2x
- T05 print 2x
- T06 print 1x (Print this with rubber material e.g. TPU)
- T07 print 2x
- T08 print 4x
- T09 print 1x
- T10 print 1x
- T11 print 1x
- T12 print 1x
- T13 print 1x
List of NOT included components:
- 2x Servomotor
- 14x Self locking screw nuts - DIN 985 A2 M3
- 2x Ball-bearing 3x7mm
- 6x Lens flange head screw - ISO 7380 A2 M3x10mm Flange Torx
- 2x Lens flange head screw - ISO 7380 A2 M3x16mm Flange Torx
- 2x Lens flange head screw - ISO 7380 A2 M3x12mm Flange Torx
- 4x Lens flange head screw - ISO 7380 A2 M3x24mm Flange Torx
- 4x Washer
- 4x Pan head sheet metal screw - DIN 7981 A2 M2.2x9.5 Torx or Phillipps
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BOM list for a ZURI-leg – OPTION C
List of included print items (Format: STL):
- T01 print 1x
- T02 print 1x
- T03 print 2x
- T04 print 2x
- T05 print 2x
- T06 print 1x (Print this with rubber material e.g. TPU)
- T07 print 2x
- T08 print 4x
- T14 print 1x
- T15 print 1x
- T11 print 1x
- T12 print 1x
- T13 print 1x
List of NOT included components:
- 2x Servomotor
- 14x Self locking screw nuts - DIN 985 A2 M3
- 2x Ball-bearing 3x7mm
- 6x Lens flange head screw - ISO 7380 A2 M3x10mm Flange Torx
- 2x Lens flange head screw - ISO 7380 A2 M3x16mm Flange Torx
- 2x Lens flange head screw - ISO 7380 A2 M3x12mm Flange Torx
- 4x Lens flange head screw - ISO 7380 A2 M3x24mm Flange Torx
- 4x Washer
- 4x Pan head sheet metal screw - DIN 7981 A2 M2.2x9.5 Torx or Phillipps
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Not for resale or distribution. (C) Copyright 2023, Daniel Kocyba.
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