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Leonardo Turtlebot3 Upgrade Kit

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LEONARDO - Turtlebot3 (Waffle Pi)
Upgrade Kit
A 3D printable, open-source upgrade kit for the Turtlebot3 Waffle Pi from Robotis.
 
LEONARDO - Turtlebot3 Waffle Pi Upgrade Kit by
Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International
 
Kit Overview
The Leonardo upgrade kit is intended to increase the overall modularity and usability of the
Turtlebot3. This is a valuable upgrade for anyone looking to improve the physical user
friendliness, durability and modularity of their Turtlebot3 unit. The following list outlines the key
features of the Leonardo Kit.
 
 
Kit Features:
Enclosures: Fully 3D printable enclosures for both the Turtlebot3's Raspberry Pi and
OpenCR boards, with solid mounting points.
Solid LIDAR Mount: A 3D printable solid mount for the LDS-01 LIDAR unit.
Improved User Experience Careful consideration was made to relocate both the Raspberry
Pi and OpenCR boards to make their ports more easily accessible. This combined with their
Travis Guy
is licensed under a
License.

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Summary of Contents for Leonardo Turtlebot3

  • Page 1   Kit Overview The Leonardo upgrade kit is intended to increase the overall modularity and usability of the Turtlebot3. This is a valuable upgrade for anyone looking to improve the physical user friendliness, durability and modularity of their Turtlebot3 unit. The following list outlines the key features of the Leonardo Kit.

  • Page 2: Bill Of Materials

    This repository contains all of the files and instructions necessary to upgrade a standard Turtlebot3 Waffle Pi unit, as well as, the CAD documentation that one would require to add their own features to this upgrade kit. The following list provides detail on each of the sub-folders within this directory and where to locate relevant information within them.
  • Page 3 Item/Description Qty.   Turtlebot 3 Waffle Pi Kit 0.5 ft. Micro USB Cable 1 ft. Micro USB Cable M3-0.5 x 8mm - Socket Head Cap Screw M3-0.5 x 16mm - Socket Head Cap Screw M5-0.8 x 8mm - Socket Head Cap Screw...
  • Page 4 Item/Description Qty.   M3-0.5 x 6mm - Pan Head Screw (NYLON) M3-0.5 x 12mm - Pan Head Screw (NYLON)  ...
  • Page 5   Step 1: TB3 First Layer Assembly The Leonardo upgrade kit uses the "First Layer Assembly" from the standard Turtlebot3 Waffle Pi. Specific instructions for assembling the "First Layer Assembly" can be found on Pages 16-20 of the Robotis Turtlebot3 Waffle Pi Assembly Manual. Once assembled, the First Layer Assembly can be set aside until Step 4  ...
  • Page 6 The Leonardo upgrade kit also uses the "Second Layer Assembly" from the standard Turtlebot3 Waffle Pi. Assembly instructions for the "Second Layer Assembly" can be found on Pages 12-13 of the Robotis Turtlebot3 Waffle Pi Assembly Manual. A fully assembled Second Layer is required before proceeding to Step 3.
  • Page 7 Step 3: Second Layer Drill & Tap Locations (Enclosure Mounting)     In order to attach the Raspberry Pi and OpenCR board enclosures, 6 pre-existing holes must be modified and 2 new holes must be added on the Second Layer Assembly. The Step 3 image above indicates the relevant hole locations as well as their respective drill and tap sizes.
  • Page 8 The third layer of the Leonardo upgrade kit is supported by 4 - M3x45mm Standoffs attached to the second layer assembly. These standoffs are re-purposed hardware from the standard Turtlebot3 kit and can be obtained from such. 4 - M3x16mm fasteners will be required to attach the standoffs.
  • Page 9 A total of 12 - M3x8mm screws will be required to attach the second layer to the first. Socket head cap screws can be used if you wish, or you can repurpose the Philips head hardware of the same size from the original Turtlebot3 kit.  ...
  • Page 10 Step 6: OpenCR + Raspberry Pi Installation     The OpenCR board and Raspberry Pi can now be installed into their respective enclosure halves using 8 - M3x6mm Nylon Screws. Once installed the enclosures can be attached to the Second Layer Assembly using the drilled and tapped holes created in Step 2 of these instructions.
  • Page 11   OPTIONAL: If you wish to use the standard Raspberry Pi camera that comes with the Turtlebot3 kit, now is the easiest time to connect the camera's ribbon cable. The ORANGE arrowed text above indicates its connection point. NOTE: It is easy to connect the camera cable backwards, ensure that the camera ribbon cable is connected in the correct orientation (Contacts on the ribbon cable facing the contacts on the port.)
  • Page 12 Once the enclosure cases are securely installed the 5V power connection between the OpenCR board and the Raspberry Pi board can be made. This is done using the Raspberry Pi 3 Power Cable from the standard Turtlebot3 kit. The GREEN arrowed text in the image above indicates the connection points.
  • Page 13   The third layer of the Leonardo upgrade requires only two waffle plates from the standard Turtlebot3 kit. The Step 9 image above shows the manner in which the plates are connected and, indicates the fastener installation locations. NOTE: It is important to leave the two M3 fastener locations indicated in the image above empty.
  • Page 14     The USB2LDS module from the standard Turtlebot3 kit can now be installed on the underside of the the third layer assembly. The module requires 2 - M3x12mm Nylon screws that are fastened through the waffle plates in the fastener locations left empty in Step 9. As indicated in the image above the assembly also requires the "Adapter Plate"...
  • Page 15 Step 11: LIDAR Mounting Bracket Installation     Turn the Layer 3 assembly back over and attach the LIDAR mount bracket to the top side using 4 - M3x8mm Socket Screws. The LIDAR bracket's mounting position corresponds with the 4 drilled and tapped holes made previously in Step 9.
  • Page 16 Step 12: LIDAR Module Installation (LDS-01)      ...
  • Page 17 See the NOTE below before proceeding. Attach the LDS-01 LIDAR unit from the standard Turltbot3 kit to the mounting bracket using 4 - M3x16mm Socket Screws. Be sure to route the unit's data cable though the opening highlighted in YELLOW in the image above before fastening. Once fastened make sure to attach the LDS-01's data cable to the USB2LDS module on the underside of the layer.
  • Page 18 Step 13: Third Layer Attachment   Attach the third layer assembly to the standoffs that were previously installed on the second layer assembly during Step 4. This will require 4 - M3x8mm Socket Screws.
  • Page 19 If you plan on using the standard Pi Camera module that comes with the Turltbot3 kit, it can now be easily attached to the Third Layer Assembly using the standard M2.5x12mm mounting hardware that comes with it. NOTE: See page 30 of the Robotis Turtlebot3 Waffle Pi Assembly Manual for detailed instructions on assembling the Pi Camera module.
  • Page 20 Step 15: USB Connections and Cable Routing     The final steps are to make the USB connections to both the USB2LDS module and the OpenCR board from the Raspberry Pi unit. Connect the 0.5ft micro USB cable from the Raspberry Pi unit to the USB2LDS module beneath the third layer assembly Connect the 1.0ft micro USB cable from the Raspberry Pi unit to the OpenCR board.