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<a href="https://107-systems.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/107-systems.png" width="15%"></a> l3xz-hw-pan-tilt-head

License: CC BY 4.0

This repository contains the design files for L3X-Z's pan/tilt color/thermal camera head.

The necessary ROS-based driver software for installation on the Raspberry Pi Zero can be found here.

<p align="center"> <a href="https://github.com/107-systems/l3xz"><img src="https://raw.githubusercontent.com/107-systems/.github/main/logo/l3xz-logo-memento-mori-github.png" width="40%"></a> </p>

Overview

(note that pngs with labels have draw.io diagrams embedded in them and can be edited using draw.io)

00 main LEFT

Left View / Starboard Side

AS1338 LEFT

Front View

AS1338 FRONT

Right View / Port Side

AS1338 RIGHT

Top View

AS1338 TOP

Bottom View

AS1338 BOTTOM

Rear View

AS1338 REAR

Vibration Isolation Mount Detail

AS1338 detail 2

Motion Study

AS1338 motion study

Bill of Materials

Raw Materials (RM)

Part NumberManufacturerMgf. Part No.DescriptionSDSTDSLink
RM0546hatchbox3D PETG-1KG1.75-REDRed 1.75mm PETG Filamenthatchbox3d.com
RM0054Prusa3dPrusament PC Blend Carbon Fiber Black 800gBlack 1.75mm Polycarbonate Filamentprusa3d.com
RM0543FilaFlexFilaFlexible40White 1.75mm Flex Filament, Shore D40prusa3d.com
RM0126Prusa3dprusament-pvb-natural-transparent-500gTransparent 1.75mm PVB Filamentprusa3d.com
RM0675PermabondPermabond 240Instant Bond Adhesive✓✓mcmaster.com
RM07143MDP1003M™ Scotch-Weld™ Epoxy Adhesive DP100✓✓amazon
RM06723MDP80053M™ Scotch-Weld™ Epoxy Adhesive DP8005✓✓amazon
RM0879(generic)B07XFMPQR1304 Stainless Steel Woven Wire 120 Mesh Fine Screenamazon
RM08893MAC793M Scotch-Weld Instant Adhesive Primer✓✓amazon
RM0890LoctiteThreadlocker Blue 242Removable thread locker to prevent self-loosening✓✓loctite
RM0318EclecticE6000Flexible, clear adhesive✓eclectic

Custom FFF Parts (CF)

<table> <thead> <th> <strong>Material ID</strong><br/> &gt;&nbsp;Filament Profile </th> <th>Count</th> <th>Part Number</th> <th>Thumbnail</th> <th>Description</th> <th>Step File</th> <th>GCode File</th> <th>Layer Height</th> <th>Printing Notes</th> </thead> <tbody valign="top"> <tr> <td rowspan="10"> <strong>RM0546</strong><br/> &gt;&nbsp;Generic PETG </td> <td>1</td> <td>CF0531</td> <td><img src="media/CF0531_thumb.png"/></td> <td>Dragon Beard dust guard: front plate</td> <td><a href="./models/02_parts_custom/process_fff/dragon_beard_dust_cover_front.step">✓</a></td> <td rowspan="4"><a href="./gcode/dragon_beard_dustcover_0.15mm_PETG_MINI_1h24m.gcode">✓</a></td> <td rowspan="10">0.15</td> <td rowspan="8"> <ul> <li>Infill: Rectilinear 100%</li> <li>No supports</li> <li>powder-coated sheet w/ glue-stick</li> <li>no-enclosure</li> </ul> </td> </tr> <tr> <td>1</td> <td>CF0532</td> <td><img src="media/CF0532_thumb.png"/></td> <td>Dragon Beard dust guard: side plate, port</td> <td><a href="./models/02_parts_custom/process_fff/dragon_beard_dust_cover_port.step">✓</a></td> </tr> <tr> <td>1</td> <td>CF0533</td> <td><img src="media/CF0533_thumb.png"/></td> <td>Dragon Beard dust guard: rear plate</td> <td><a href="./models/02_parts_custom/process_fff/dragon_beard_dust_cover_rear.step">✓</a></td> </tr> <tr> <td>1</td> <td>CF0534</td> <td><img src="media/CF0534_thumb.png"/></td> <td>Dragon Beard dust guard: side plate, starboard</td> <td><a href="./models/02_parts_custom/process_fff/dragon_beard_dust_cover_starboard.step">✓</a></td> </tr> </tr> <tr> <td>1</td> <td>CF0535</td> <td><img src="media/CF0535_thumb.png"/></td> <td>Ethernet Cable Guide, top</td> <td><a href="./models/02_parts_custom/process_fff/dragon_neck_ethernet_guide_top.step">✓</a></td> <td rowspan="2"><a href="./gcode/Ethernet_guide_0.15mm_PETG_MINI_59m.gcode">✓</a></td> </tr> <tr> <td>1</td> <td>CF0536</td> <td><img src="media/CF0536_thumb.png"/></td> <td>Ethernet Cable Guide, bottom</td> <td><a href="./models/02_parts_custom/process_fff/dragon_neck_ethernet_guide_bottom.step">✓</a></td> </tr> <tr> <td>2</td> <td>CF0538</td> <td><img src="media/CF0538_thumb.png"/></td> <td>Axial Squash Plate</td> <td><a href="./models/02_parts_custom/process_fff/dragon_eye_squashplate_axial.step">✓</a></td> <td rowspan="2"><a href="./gcode/squash_plates_0.15mm_PETG_MINI_27m.gcode">✓</a></td> </tr> <tr> <td>4</td> <td>CF0539</td> <td><img src="media/CF0539_thumb.png"/></td> <td>Distal Squash Plate</td> <td><a href="./models/02_parts_custom/process_fff/dragon_eye_squashplate.step">✓</a></td> </tr> <tr> <td>2</td> <td>CF0537</td> <td><img src="media/CF0537_thumb.png"/></td> <td>OpenMV H7 Case, Front</td> <td><a href="./models/02_parts_custom/process_fff/omvh732_front.step">✓</a></td> <td><a href="./gcode/omvh732_front_0.15mm_PETG_MINI_2h7m.gcode">✓</a></td> <td> <ul> <li>Infill: Gyroid 20%</li> <li>Solid infill threshold area: 200mm<sup>2</sup></li> <li>No supports</li> <li>powder-coated sheet w/ glue-stick</li> <li>no-enclosure</li> </ul> </td> </tr> <tr> <td>2</td> <td>CF0562</td> <td><img src="media/CF0562_thumb.png"/></td> <td>OpenMV H7 Case, USB Retainer</td> <td></td> <td><a href="./gcode/omvh732_usb_retainer_0.15mm_PETG_MINI_39m.gcode">✓</a></td> <td> <ul> <li>Infill: Rectilinear 100%</li> <li>Custom Support</li> <li>Support Style: Snug</li> <li>powder-coated sheet w/ glue-stick</li> <li>no-enclosure</li> </ul> </td> </tr> <tr> <td rowspan="6"> <strong>RM0543</strong><br/> &gt;&nbsp;Filatech FilaFlex40 </td> <td>2</td> <td>CF0540</td> <td><img src="media/CF0540_thumb.png"/></td> <td>OpenMV H7 Case, soft-mount, rear.</td> <td><a href="./models/02_parts_custom/process_fff/omvh732_softmount_rear.step">✓</a></td> <td rowspan="4"><a href="./gcode/omvh732_softparts_0.2mm_FLEX_MINI_34m.gcode">✓</a></td> <td rowspan="7">0.20</td> <td rowspan="7"> <ul> <li>Infill: Rectilinear 100%</li> <li>No supports</li> <li>brim</li> <li>powder-coated sheet w/ glue-stick</li> <li>no-enclosure</li> </ul> </td> </tr> <tr> <td>2</td> <td>CF0541</td> <td><img src="media/CF0541_thumb.png"/></td> <td>OpenMV H7 Case, soft-mount, front-top.</td> <td><a href="./models/02_parts_custom/process_fff/omhv732_softmount_front_top.step">✓</a></td> </tr> <tr> <td>2</td> <td>CF0542</td> <td><img src="media/CF0542_thumb.png"/></td> <td>OpenMV H7 Case, soft-mount, front-bottom.</td> <td><a href="./models/02_parts_custom/process_fff/omhv732_softmount_front_bottom.step">✓</a></td> </tr> <tr> <td>4</td> <td>CF0543</td> <td><img src="media/CF0543_thumb.png"/></td> <td>OpenMV H7 Case, no-connector strain-relief.</td> <td><a href="./models/02_parts_custom/process_fff/openmv-h7-body-strain-relief.step">✓</a></td> </tr> <tr> <td>1</td> <td>CF0580</td> <td><img src="media/CF0580_thumb.png"/></td> <td>OpenMV H7 Case, AAOTOKK USB Micro Retainer Gasket.</td> <td><a href="./models/02_parts_custom/process_fff/omvh732_usb_retainer_gasket.step">✓</a></td> <td><a href="./gcode/d.15mm_FLEX_MINI_20m.gcode">✓</a></td> </tr> <tr> <td>7</td> <td>CF0581</td> <td><img src="media/CF0581_thumb.png"/></td> <td>Dragon Ear ISO mount spacers</td> <td><a href="models/02_parts_custom/process_fff/dragon_ear_iso_spacer.step">✓</a></td> <td><a href="./gcode/iso_spacer_0.2mm_FLEX_MINI_7m.gcode">✓</a></td> </tr> <tr> <td> <strong>RM0126</strong><br/> &gt; Prusament PVB </td> <td>2</td> <td>CF0544</td> <td><img src="media/CF0544_thumb.png"/></td> <td>OpenMV H7 Case, light-pipe.</td> <td><a href="./models/02_parts_custom/process_fff/omhv732_lightpipe_front.step">✓</a></td> <td><a href="./gcode/omvh732_lightpipe_0.2mm_PVB_MINI_5m.gcode">✓</a></td> </tr> <tr> <td rowspan="10"> <strong>RM0054</strong><br/> &gt;&nbsp;Prusament&nbsp;PC&nbsp;Blend&nbsp;Carbon&nbsp;Fiber&nbsp;+ <ul> <li>extrusion mult. .97</li> <li>nozzle temp: 290˚ (all layers)</li> <li>enclosure, 32˚</li> </ul> </td> <td>1</td> <td>CF0545</td> <td><img src="media/CF0545_thumb.png"/></td> <td>Dragon Beard boot: design variant 1</td> <td><a href="./models/02_parts_custom/process_fff/dragon_beard_boot_d1.step">✓</a></td> <td><a href="./gcode/boot_d1_0.15mm_PC_MINI_39m.gcode">✓</a></td> <td rowspan="8">0.15</td> <td rowspan="4"> <ul> <li>Infill: Rectilinear 100%</li> <li>No supports</li> <li>powder-coated sheet</li> </ul> </td> </tr> <tr> <td>1</td> <td>CF0546</td> <td><img src="media/CF0546_thumb.png"/></td> <td>Dragon Beard boot: design variant_2</td> <td><a href="./models/02_parts_custom/process_fff/dragon_beard_boot_d2.step">✓</a></td> <td><a href="./gcode/boot_d2_0.15mm_PC_MINI_39m.gcode">✓</a></td> </tr> <tr> <td>1</td> <td>CF0547</td> <td><img src="media/CF0547_thumb.png"/></td> <td>Dragon Beard hanger</td> <td><a href="./models/02_parts_custom/process_fff/dragon_beard_hanger.step">✓</a></td> <td><a href="./gcode/hanger_0.15mm_PC_MINI_2h8m.gcode">✓</a></td> </tr> <tr> <td>1</td> <td>CF0548</td> <td><img src="media/CF0548_thumb.png"/></td> <td>Dragon Beard neck (25mm)</td> <td><a href="./models/02_parts_custom/process_fff/dragon_neck_25mm.step">✓</a></td> <td><a href="./gcode/neck_25mm_0.15mm_PC_MINI_2h9m.gcode">✓</a></td> </tr> <tr> <td>1</td> <td>CF0549</td> <td><img src="media/CF0549_thumb.png"/></td> <td>Dragon Nose</td> <td><a href="./models/02_parts_custom/process_fff/dragon_nose.step">✓</a></td> <td><a href="./gcode/nose_0.15mm_PC_MINI_1h9m.gcode">✓</a></td> <td rowspan="2"> <ul> <li>Infill: Honeycomb 30%</li> <li>4 perimeters (min)</li> <li>Bottom layer: Archimedean Chords</li> <li>Custom supports</li> <li>Support Style: Snug</li> <li>powder-coated sheet</li> </ul> </td> </tr> <tr> <td>2</td> <td>CF0550</td> <td><img src="media/CF0550_thumb.png"/></td> <td>OpenMV H7 Case: Rear</td> <td><a href="./models/02_parts_custom/process_fff/omvh732_rear.step">✓</a></td> <td><a href="./gcode/omvh732_rear_0.15mm_PC_MINI_1h43m.gcode">✓</a></td> </tr> <tr> <td>1</td> <td>CF0552</td> <td><img src="media/CF0552_thumb.png"/></td> <td>Dragon Ear: Port-side</td> <td><a href="./models/02_parts_custom/process_fff/dragon_ear_port.step">✓</a></td> <td><a href="./gcode/dragon_ear_port_0.15mm_PC_MINI_2h5m.gcode">✓</a></td> <td> <ul> <li>Infill: Rectilinear 100%</li> <li>8 perimeters (min)</li> <li>Custom supports</li> <li>Support Style: Snug, 2mm xy separation</li> <li>powder-coated sheet</li> </ul> </td> </tr> <tr> <td>2</td> <td>CF0554</td> <td><img src="media/CF0554_thumb.png"/></td> <td>OpenMV H7 Case: mounting adapter</td> <td><a href="./models/02_parts_custom/process_fff/omvh732_adapter.step">✓</a></td> <td><a href="./gcode/omv732_adapter_0.15mm_PC_MINI_39m.gcode">✓</a></td> <td>0.10</td> <td> <ul> <li>Infill: Rectilinear 100%</li> <li>powder-coated sheet</li> </ul> </td> </tr> <tr> <td>1</td> <td>CF0551</td> <td><img src="media/CF0551_thumb.png"/></td> <td>Dragon Ear: Starboard-side</td> <td><a href="./models/02_parts_custom/process_fff/dragon_ear_starboard.step">✓</a></td> <td><a href="./gcode/dragon_ear_starboard_0.15mm_PC_MINI_1h54m.gcode">✓</a></td> <td> <ul> <li>Infill: Rectilinear 100%</li> <li>8 perimeters (min)</li> <li>Custom supports</li> <li>Support Style: Snug, 2mm xy separation</li> <li>powder-coated sheet</li> </ul> </td> </tr> <tr> <td>1</td> <td>CF0553</td> <td><img src="media/CF0553_thumb.png"/></td> <td>Hexapod Emblem</td> <td><a href="./models/00_marks_and_decals/hexapod makers mark.step">✓</a></td> <td><a href="./gcode/hexapod_logo_0.1mm_PC_MINI_3m.gcode">✓</a></td> <td>0.10</td> <td> <ul> <li>Infill: Rectilinear 100%</li> <li>powder-coated sheet</li> </ul> </td> </tr> </tbody> </table>

Electrical (EL)

Ct.Part NumberMgfr. Part NumberDescriptionLink
2EL2112openmv-cam-h7-r2Open Machine Vision camera module.openmv.io
1EL2113flir-lepton-adapter-moduleOpenMV camera module adapter for FLIR lepton.openmv.io
1EL2114flir-lepton-3-5FLIR Lepton imaging module.groupgets.com
1EL2115Raspberry Pi Zero 2 WSBC compute moduleraspberrypi.com
1EL2116PoE/ETH/USB HUB HATPoE hat for EL2115waveshare.com
2EL2117902-0095-000DYNAMIXEL MX-28AR servorobotis.com

Assemblies (AS)

Ct.Part NumberImageAnim.Description
1AS1334<img src="./media/AS1334.png" height=50px/>✓Dragon Face
1AS1335<img src="./media/AS1335.png" height=50px/>✓Dragon Throat
1AS1336<img src="./media/AS1336.png" height=50px/>✓OpenMV H7 Camera Enclosure
1AS1337<img src="./media/AS1337.png" height=50px/>✓Camera Head
1AS1338<img src="./media/AS1338.png" height=50px/>Main Assembly