Merge pull request #438 from nasa-jpl/Achllle/rb-joint-part-swap

Use stainless steel shaft & 4,6mm spacers

mechanical/rocker_bogie/README.md

@@ -26,15 +26,15 @@ You will be creating two almost identical assemblies. Below instructions are for
 
 ### Creating the rocker-bogie joint
 
-Assemble the joint following the steps below. Since the clamp in the middle isn't symmetric and protrudes on one side, a spacer is added to the other, flat side. You can see this in the top left image.
+Assemble the joint following the steps below. Since the clamp in the middle isn't symmetric and protrudes on one side, two spacers of different lengths are used. You can see this in the top left image. You'll use spacer `1522-0010-0040` of length 4mm on the side of the clamp that has the protrusion, while on the other, flat side, you'll use spacer `1514-0010-0060` of length 6mm. This creates a tight assembly that prevents the joint from flexing from side to side.
 
 | ![](images/pivot_start.png)            | ![](images/pivot_almost.png)        |
 | -------------------------------------- | ----------------------------------- |
 | ![](images/pivot_complete_inplace.png) | ![](images/pivot_complete_side.png) |
 
 Wait with the yellow and orange (ball bearing) parts. The bearing should first be inserted into the yellow hub.
 
-TODO: improve images, refer to 3D model.
+> **Tip**: Use the OnShape model and navigate to the tab 'rocker-bogie' in the bottom to isolate this assembly. Then right click on various parts to temporarily hide them so you can see how the assembly works in 3D.
 
 ### Attach the joint bearings to the servo arms
 
@@ -46,7 +46,7 @@ Pay attention to direction of the slits for the cabling
 
 ### Attach the front servo
 
-First attach the bracket to the shaft you just attached to the joint using 3 or 4 M4 screws. Then assemble the servo block to the servo. Insert the set screw that came with the servo inside the hollow shaft that fits onto the spline profile on the servo output, but don't tighten it yet as we'll have to readjust later when calibrating the corner motors. This screw prevents the corner assembly from falling off the rocker-bogie while driving.
+First attach the bracket to the shaft you just attached to the joint using three or four M4 screws. Then assemble the servo block to the servo. Insert the set screw that came with the servo inside the hollow shaft that fits onto the spline profile on the servo output, but don't tighten it yet as we'll have to readjust later when calibrating the corner motors. This screw prevents the corner assembly from falling off the rocker-bogie while driving.
 
 Route the wiring from the servo motor through the hole and into the extruded shaft, then attach the servo motor and block to the front rocker-bogie bracket.
 

parts_list/README.md

@@ -6,7 +6,7 @@ and should consist of the same parts, just presented in a more readable format.
 to Digikey.com directly to create a shopping cart.
 Before you place an order, please double check that you have all parts in the right quantities.
 
-The total cost comes out to be **$1346.76** without discounts. If you are an educational builder,
+The total cost comes out to be **$1345.16** without discounts. If you are an educational builder,
 please join the Slack workspace and enquire about any discounts.
 
 
@@ -44,7 +44,7 @@ Cost to build these assemblies: $11.48 * 4 assemblies = $45.92
 | 8mm Sonic Hub | [1309 Series Sonic Hub (8mm Bore) - goBILDA](https://www.gobilda.com/1309-series-sonic-hub-8mm-bore/) | $6.99 | 2 | $13.98 |
 | flanged bearing 2pack | [1611 Series Flanged Ball Bearing (8mm ID x 14mm OD, 5mm Thickness) - 2 Pack - goBILDA](https://www.gobilda.com/1611-series-flanged-ball-bearing-8mm-id-x-14mm-od-5mm-thickness-2-pack/) | $3.99 | 2 | $7.98 |
 | joint pattern spacer | [1504 Series 32mm OD Pattern Spacer (2mm Length) - goBILDA](https://www.gobilda.com/1504-series-32mm-od-pattern-spacer-2mm-length/) | $1.99 | 4 | $7.96 |
-| joint 8mm tube | [4100 Series Aluminum Tube (6mm ID x 8mm OD, 50mm Length) - goBILDA](https://www.gobilda.com/4100-series-aluminum-tube-6mm-id-x-8mm-od-50mm-length/) | $2.49 | 2 | $4.98 |
+| joint 8mm shaft | [2100 Series Stainless Steel Round Shaft (8mm Diameter, 50mm Length)](https://www.gobilda.com/2100-series-stainless-steel-round-shaft-8mm-diameter-50mm-length/) | $1.49 | 2 | $2.98 |
 | joint 3hole flat beam 2pack | [1102 Series Flat Beam (3 Hole, 24mm Length) - 2 Pack - goBILDA](https://www.gobilda.com/1102-series-flat-beam-3-hole-24mm-length-2-pack/) | $1.89 | 4 | $7.56 |
 | joint pattern mount | [1221 Series 2-Side, 2-Post Pattern Mount (32-2) - goBILDA](https://www.gobilda.com/1221-series-2-side-2-post-pattern-mount-32-2/) | $4.99 | 4 | $19.96 |
 | steel flat bracket | [1126 Series Steel Flat Bracket (1-1) - 2 Pack - goBILDA](https://www.gobilda.com/1126-series-steel-flat-bracket-1-1-2-pack/) | $2.49 | 2 | $4.98 |
@@ -55,9 +55,10 @@ Cost to build these assemblies: $11.48 * 4 assemblies = $45.92
 | 45deg bracket | [1111 Series Angle Pattern Bracket (1-1) - goBILDA](https://www.gobilda.com/1111-series-angle-pattern-bracket-1-1/) | $2.99 | 4 | $11.96 |
 | 90deg steel bracket 2pack | [1137 Series Steel Flat Grid Bracket (1-1) - 2 Pack - goBILDA](https://www.gobilda.com/1137-series-steel-flat-grid-bracket-1-1-2-pack/) | $3.49 | 1 | $3.49 |
 | control arm | [Plastic Hub-Mount Control Arm (72mm Length) - goBILDA](https://www.gobilda.com/plastic-hub-mount-control-arm-72mm-length/) | $4.99 | 4 | $19.96 |
-| 8mm ID Spacer (10mm OD, 8mm Length) | [1514 Series 8mm ID Spacer (10mm OD, 8mm Length) - 4 Pack - goBILDA](https://www.gobilda.com/1514-series-8mm-id-spacer-10mm-od-8mm-length-4-pack/) | $2.39 | 2 | $4.78 |
+| 8mm ID Spacer (10mm OD, 6mm Length) | [1514 Series 8mm ID Spacer (10mm OD, 6mm Length) - 4 Pack - goBILDA](https://www.gobilda.com/1514-series-8mm-id-spacer-10mm-od-6mm-length-4-pack/) | $2.19 | 1 | $2.19 |
+| 8mm ID Spacer (10mm OD, 4mm Length) | [1522 Series 8mm ID Spacer (10mm OD, 4mm Length) - 4 Pack - goBILDA](https://www.gobilda.com/1522-series-8mm-id-spacer-10mm-od-4mm-length-4-pack/) | $2.99 | 1 | $2.99 |
 
-Cost to build these assemblies: $206.07 * 2 assemblies = $412.15
+Cost to build these assemblies: $205.27 * 2 assemblies = $410.55
 
 
 ## Parts for body assembly

parts_list/parts_list.csv

@@ -12,7 +12,7 @@ rocker bogie,servo,2000-0025-0002,"2000 Series Dual Mode Servo (25-2, Torque) -
 rocker bogie,8mm Sonic Hub,1309-0016-0008,1309 Series Sonic Hub (8mm Bore) - goBILDA,https://www.gobilda.com/1309-series-sonic-hub-8mm-bore/,$6.99,1,2
 rocker bogie,flanged bearing 2pack,1611-0514-0008,"1611 Series Flanged Ball Bearing (8mm ID x 14mm OD, 5mm Thickness) - 2 Pack - goBILDA",https://www.gobilda.com/1611-series-flanged-ball-bearing-8mm-id-x-14mm-od-5mm-thickness-2-pack/,$3.99,1,2
 rocker bogie,joint pattern spacer,1504-0032-0020,1504 Series 32mm OD Pattern Spacer (2mm Length) - goBILDA,https://www.gobilda.com/1504-series-32mm-od-pattern-spacer-2mm-length/,$1.99,2,2
-rocker bogie,joint 8mm tube,4100-0608-0050,"4100 Series Aluminum Tube (6mm ID x 8mm OD, 50mm Length) - goBILDA",https://www.gobilda.com/4100-series-aluminum-tube-6mm-id-x-8mm-od-50mm-length/,$2.49,1,2
+rocker bogie,joint 8mm shaft,2100-0008-0050,"2100 Series Stainless Steel Round Shaft (8mm Diameter, 50mm Length)",https://www.gobilda.com/2100-series-stainless-steel-round-shaft-8mm-diameter-50mm-length/,$1.49,1,2
 rocker bogie,joint 3hole flat beam 2pack,1102-0003-0024,"1102 Series Flat Beam (3 Hole, 24mm Length) - 2 Pack - goBILDA",https://www.gobilda.com/1102-series-flat-beam-3-hole-24mm-length-2-pack/,$1.89,2,2
 rocker bogie,joint pattern mount,1221-0032-0002,"1221 Series 2-Side, 2-Post Pattern Mount (32-2) - goBILDA",https://www.gobilda.com/1221-series-2-side-2-post-pattern-mount-32-2/,$4.99,2,2
 rocker bogie,steel flat bracket,1126-0001-0001,1126 Series Steel Flat Bracket (1-1) - 2 Pack - goBILDA,https://www.gobilda.com/1126-series-steel-flat-bracket-1-1-2-pack/,$2.49,1,2
@@ -23,7 +23,8 @@ rocker bogie,288mm open goRail,1118-0024-0288,1118 Series Open goRAIL (288mm Len
 rocker bogie,45deg bracket,1111-0001-0001,1111 Series Angle Pattern Bracket (1-1) - goBILDA,https://www.gobilda.com/1111-series-angle-pattern-bracket-1-1/,$2.99,2,2
 rocker bogie,90deg steel bracket 2pack,1137-0001-0001,1137 Series Steel Flat Grid Bracket (1-1) - 2 Pack - goBILDA,https://www.gobilda.com/1137-series-steel-flat-grid-bracket-1-1-2-pack/,$3.49,0.5,2
 rocker bogie,control arm,1916-0014-0072,Plastic Hub-Mount Control Arm (72mm Length) - goBILDA,https://www.gobilda.com/plastic-hub-mount-control-arm-72mm-length/,$4.99,2,2
-rocker bogie,"8mm ID Spacer (10mm OD, 8mm Length)",1514-0010-0080,"1514 Series 8mm ID Spacer (10mm OD, 8mm Length) - 4 Pack - goBILDA",https://www.gobilda.com/1514-series-8mm-id-spacer-10mm-od-8mm-length-4-pack/,$2.39,1,2
+rocker bogie,"8mm ID Spacer (10mm OD, 6mm Length)",1514-0010-0060,"1514 Series 8mm ID Spacer (10mm OD, 6mm Length) - 4 Pack - goBILDA",https://www.gobilda.com/1514-series-8mm-id-spacer-10mm-od-6mm-length-4-pack/,$2.19,0.5,2
+rocker bogie,"8mm ID Spacer (10mm OD, 4mm Length)",1522-0010-0040,"1522 Series 8mm ID Spacer (10mm OD, 4mm Length) - 4 Pack - goBILDA",https://www.gobilda.com/1522-series-8mm-id-spacer-10mm-od-4mm-length-4-pack/,$2.99,0.5,2
 body,120mm open goRail,1118-0024-0120,1118 Series Open goRAIL (120mm Length) - goBILDA,https://www.gobilda.com/1118-series-open-gorail-120mm-length/,$4.99,2,1
 body,2hole Uchannel,1120-0002-0072,"1120 Series U-Channel (2 Hole, 72mm Length) - goBILDA",https://www.gobilda.com/1120-series-u-channel-2-hole-72mm-length/,$4.99,2,1
 body,32mm bearing,1604-0043-0032,"1604 Series 2-Side, 2-Post Pillow Block (32mm Bore) - goBILDA",https://www.gobilda.com/1604-series-2-side-2-post-pillow-block-32mm-bore/,$12.99,4,1