IxD Studio - User contributions [en]

Dynamixel XL330 pulley

2026-05-21T13:39:49Z

Studio Director:

[[File:Xl330-pulley-rev.png|thumb]]

Code for OpenSCAD: https://openscad.org

<pre>

$fn=32;

w = 5.3; // pulley thickness
inner = 6; // fixed number (inner radius non-overlapping with the servo's screw)
outer = 10; // adjust this number to increase the outer radius
screw = 1;

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([inner,0,-2]) cylinder(outer, screw, screw);
translate([-inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(inner, outer){
difference(){
cylinder(w, outer, outer);
cylinder(w, inner/2, inner/2);
}
}

module pully(inner, outer, r, w){
difference(){
difference(){
rotate_extrude(convexity = 10)
translate([outer + 2, w/2, 0])
circle(r);
rotate_extrude(convexity = 10)
translate([outer + (inner/2), w/2, 0])
circle(r);
}
// string hanging point
translate([outer+0.5, 0, 0]) cylinder(2*w, screw/2, screw/2);
}
}

difference(){
union(){
pully(inner, outer, w/2, w);
disc(inner, outer);
}
mounts(screw, inner, outer);
}

</pre>

== Pulley v2 ==

[[File:Pulley v2.png|thumb]]
<pre>
$fn = 32;

r = 25; // disc radius - outer
w = 5.3; // disc thickness for XL330 -- adjust for different servo types
d = 3; // inner hole radius -- inner
t = 4;
h = 1.5; // boundary thickness

rr = 0.8; // d=1.6mm pins on the XL330 servo hornet (inlet)
ll = 2.5; // l=2.5mm, how deep the inlet travel in the hornet -- 2.5mm
tt = 2; // t=2mm, global thickness
inner = 6;

module pins(rr, ll, tt){
/* r: radius, l: length, t: thickness */
translate([inner,0,0]) cylinder(2*w, rr, rr);
translate([-inner,0,0]) cylinder(2*w, rr, rr);
translate([0,inner,0]) cylinder(2*w, rr, rr);
translate([0,-inner,0]) cylinder(2*w, rr, rr);
}

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([3*inner,0,-2]) cylinder(outer, screw, screw);
translate([-3*inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,3*inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-3*inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(r, w, d, h){
difference(){
union(){
union(){
cylinder(w, r, r);
translate([0, 0, w-h]) cylinder(h, r + t, r + t);
}
translate([0, 0, 0]) cylinder(h, r + t, r + t);
}
cylinder(w, 3, 3);
}
}
//
//union(){
// disc(r, w, d);
// translate([0, 0, w - t]) cylinder(h, r + t, r + t);
//}
difference(){
difference(){
difference(){
disc(r, w, d, h);
// mounts(h, d, r);
pins(rr, ll, w);
}
translate([0,0,w/2]) rotate([90,0,0]) cylinder(2*r, 1, 1); // string attachment
}
translate([0,-1.5*w,w/2]) rotate([0,90,0]) cylinder(2*r, 1, 1); // string attachment
}
</pre>

= Other servo accessories =

https://studio.cse.chalmers.se/mediawiki/index.php?title=Servo_accessories

Dynamixel XL330 pulley

2026-05-21T13:37:51Z

Studio Director:

[[File:Xl330-pulley-rev.png|thumb]]

Code for OpenSCAD: https://openscad.org

<pre>

$fn=32;

w = 5.3; // pulley thickness
inner = 6; // fixed number (inner radius non-overlapping with the servo's screw)
outer = 10; // adjust this number to increase the outer radius
screw = 1;

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([inner,0,-2]) cylinder(outer, screw, screw);
translate([-inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(inner, outer){
difference(){
cylinder(w, outer, outer);
cylinder(w, inner/2, inner/2);
}
}

module pully(inner, outer, r, w){
difference(){
difference(){
rotate_extrude(convexity = 10)
translate([outer + 2, w/2, 0])
circle(r);
rotate_extrude(convexity = 10)
translate([outer + (inner/2), w/2, 0])
circle(r);
}
// string hanging point
translate([outer+0.5, 0, 0]) cylinder(2*w, screw/2, screw/2);
}
}

difference(){
union(){
pully(inner, outer, w/2, w);
disc(inner, outer);
}
mounts(screw, inner, outer);
}

</pre>

== Pulley v2 ==

[[File:Pulley v2.png|thumb]]
<pre>
$fn = 32;

r = 25; // disc radius - outer
w = 8; // disc thickness
d = 3; // inner hole radius -- inner
t = 4;
h = 2; // boundary thickness

rr = 0.8; // d=1.6mm pins on the XL330 servo hornet (inlet)
ll = 2.5; // l=2.5mm, how deep the inlet travel in the hornet -- 2.5mm
tt = 2; // t=2mm, global thickness
inner = 6;

module pins(rr, ll, tt){
/* r: radius, l: length, t: thickness */
translate([inner,0,0]) cylinder(2*w, rr, rr);
translate([-inner,0,0]) cylinder(2*w, rr, rr);
translate([0,inner,0]) cylinder(2*w, rr, rr);
translate([0,-inner,0]) cylinder(2*w, rr, rr);
}

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([3*inner,0,-2]) cylinder(outer, screw, screw);
translate([-3*inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,3*inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-3*inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(r, w, d, h){
difference(){
union(){
union(){
cylinder(w, r, r);
translate([0, 0, w-h]) cylinder(h, r + t, r + t);
}
translate([0, 0, 0]) cylinder(h, r + t, r + t);
}
cylinder(w, 3, 3);
}
}
//
//union(){
// disc(r, w, d);
// translate([0, 0, w - t]) cylinder(h, r + t, r + t);
//}
difference(){
difference(){
difference(){
disc(r, w, d, h);
// mounts(h, d, r);
pins(rr, ll, w);
}
translate([0,0,w/2]) rotate([90,0,0]) cylinder(2*r, 1, 1); // string attachment
}
translate([0,-1.5*w,w/2]) rotate([0,90,0]) cylinder(2*r, 1, 1); // string attachment
}
</pre>

= Other servo accessories =

https://studio.cse.chalmers.se/mediawiki/index.php?title=Servo_accessories

File:Pulley v2.png

2026-05-21T13:37:31Z

Studio Director:

Pulley with string attachment points

Dynamixel XL330 pulley

2026-05-21T13:36:16Z

Studio Director:

[[File:Xl330-pulley-rev.png|thumb]]

Code for OpenSCAD: https://openscad.org

<pre>

$fn=32;

w = 5.3; // pulley thickness
inner = 6; // fixed number (inner radius non-overlapping with the servo's screw)
outer = 10; // adjust this number to increase the outer radius
screw = 1;

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([inner,0,-2]) cylinder(outer, screw, screw);
translate([-inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(inner, outer){
difference(){
cylinder(w, outer, outer);
cylinder(w, inner/2, inner/2);
}
}

module pully(inner, outer, r, w){
difference(){
difference(){
rotate_extrude(convexity = 10)
translate([outer + 2, w/2, 0])
circle(r);
rotate_extrude(convexity = 10)
translate([outer + (inner/2), w/2, 0])
circle(r);
}
// string hanging point
translate([outer+0.5, 0, 0]) cylinder(2*w, screw/2, screw/2);
}
}

difference(){
union(){
pully(inner, outer, w/2, w);
disc(inner, outer);
}
mounts(screw, inner, outer);
}

</pre>

== Pulley v2 ==

<pre>
$fn = 32;

r = 25; // disc radius - outer
w = 8; // disc thickness
d = 3; // inner hole radius -- inner
t = 4;
h = 2; // boundary thickness

rr = 0.8; // d=1.6mm pins on the XL330 servo hornet (inlet)
ll = 2.5; // l=2.5mm, how deep the inlet travel in the hornet -- 2.5mm
tt = 2; // t=2mm, global thickness
inner = 6;

module pins(rr, ll, tt){
/* r: radius, l: length, t: thickness */
translate([inner,0,0]) cylinder(2*w, rr, rr);
translate([-inner,0,0]) cylinder(2*w, rr, rr);
translate([0,inner,0]) cylinder(2*w, rr, rr);
translate([0,-inner,0]) cylinder(2*w, rr, rr);
}

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([3*inner,0,-2]) cylinder(outer, screw, screw);
translate([-3*inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,3*inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-3*inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(r, w, d, h){
difference(){
union(){
union(){
cylinder(w, r, r);
translate([0, 0, w-h]) cylinder(h, r + t, r + t);
}
translate([0, 0, 0]) cylinder(h, r + t, r + t);
}
cylinder(w, 3, 3);
}
}
//
//union(){
// disc(r, w, d);
// translate([0, 0, w - t]) cylinder(h, r + t, r + t);
//}
difference(){
difference(){
difference(){
disc(r, w, d, h);
// mounts(h, d, r);
pins(rr, ll, w);
}
translate([0,0,w/2]) rotate([90,0,0]) cylinder(2*r, 1, 1); // string attachment
}
translate([0,-1.5*w,w/2]) rotate([0,90,0]) cylinder(2*r, 1, 1); // string attachment
}
</pre>

= Other servo accessories =

https://studio.cse.chalmers.se/mediawiki/index.php?title=Servo_accessories

Main Page

2026-05-14T09:04:44Z

Studio Director: /* Useful Documents */

== IxD Studio Equipment ==

The wiki mostly serves as technical support and inquiry for available equipment related to:

* [[3D printing]]
* [[Electronics]]
* [[Laser cutting]]
* [[Printers]]


== Useful Documents ==

* [[3D printing models]]
* [[Studio internal]]

== Useful Software ==

* [[CAD]]
* [[Programming]]
* [[Simulators]]

Dynamixel XL330 pulley

2026-05-14T09:04:30Z

Studio Director:

Dynamixel XL330 pulley

2026-05-14T09:02:51Z

Studio Director:

[[File:Xl330-pulley-rev.png|thumb]]

<pre>

$fn=32;

w = 5.3; // pulley thickness
inner = 6; // fixed number (inner radius non-overlapping with the servo's screw)
outer = 10; // adjust this number to increase the outer radius
screw = 1;

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([inner,0,-2]) cylinder(outer, screw, screw);
translate([-inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(inner, outer){
difference(){
cylinder(w, outer, outer);
cylinder(w, inner/2, inner/2);
}
}

module pully(inner, outer, r, w){
difference(){
difference(){
rotate_extrude(convexity = 10)
translate([outer + 2, w/2, 0])
circle(r);
rotate_extrude(convexity = 10)
translate([outer + (inner/2), w/2, 0])
circle(r);
}
// string hanging point
translate([outer+0.5, 0, 0]) cylinder(2*w, screw/2, screw/2);
}
}

difference(){
union(){
pully(inner, outer, w/2, w);
disc(inner, outer);
}
mounts(screw, inner, outer);
}

</pre>

== Other servo accessories ==

https://studio.cse.chalmers.se/mediawiki/index.php?title=Servo_accessories

Dynamixel XL330 pulley

2026-05-13T11:31:30Z

Studio Director:

File:Xl330-pulley-rev.png

2026-05-13T11:31:19Z

Studio Director:

XL330 pulley design

Dynamixel XL330 pulley

2026-05-13T11:30:03Z

Studio Director:

[[File:Xl330-pulley.png|thumb]]
<pre>

$fn=32;

w = 5.3; // pulley thickness
inner = 6; // fixed number (inner radius non-overlapping with the servo's screw)
outer = 10; // adjust this number to increase the outer radius
screw = 1;

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([inner,0,-2]) cylinder(outer, screw, screw);
translate([-inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(inner, outer){
difference(){
cylinder(w, outer, outer);
cylinder(w, inner/2, inner/2);
}
}

module pully(inner, outer, r, w){
difference(){
difference(){
rotate_extrude(convexity = 10)
translate([outer + 2, w/2, 0])
circle(r);
rotate_extrude(convexity = 10)
translate([outer + (inner/2), w/2, 0])
circle(r);
}
// string hanging point
translate([outer+0.5, 0, 0]) cylinder(2*w, screw/2, screw/2);
}
}

difference(){
union(){
pully(inner, outer, w/2, w);
disc(inner, outer);
}
mounts(screw, inner, outer);
}

</pre>

Dynamixel XL330 pulley

2026-05-13T11:29:13Z

Studio Director:

[[File:Xl330-pulley.png|thumb]]
<pre>

$fn=32;

w = 5.3; // pulley thickness
inner = 6; // fixed number (inner radius non-overlapping with the servo's screw)
outer = 10; // adjust this number to increase the outer radius
screw = 1;

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([inner,0,-2]) cylinder(outer, screw, screw);
translate([-inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(inner, outer){
difference(){
cylinder(w, outer, outer);
cylinder(w, inner/2, inner/2);
}
}

module pully(inner, outer, r, w){
difference(){
difference(){
rotate_extrude(convexity = 10)
translate([outer + 2, w/2, 0])
circle(r);
rotate_extrude(convexity = 10)
translate([outer + (inner/2), w/2, 0])
circle(r);
}
translate([outer+0.5, 0, 0]) cylinder(2*w, screw/2, screw/2);
}
}

difference(){
union(){
pully(inner, outer, w/2, w);
disc(inner, outer);
}
mounts(screw, inner, outer);
}

</pre>

Dynamixel XL330 pulley

2026-05-13T11:26:57Z

Studio Director:

[[File:Xl330-pulley.png|thumb]]
<pre>
$fn=32;

w = 5.3; // cog thickness
inner = 6; // fixed number (inner radius non-overlapping with the servo's screw)
outer = 10; // adjust this number to increase the outer radius
screw = 1;

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([inner,0,-2]) cylinder(outer, screw, screw);
translate([-inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(inner, outer){
// disc to 'cover' the gear library holes in your design
difference(){
cylinder(w, outer, outer);
cylinder(w, inner/2, inner/2);
}
}

module pully(inner, outer, r, w){
difference(){
difference(){
rotate_extrude(convexity = 10)
translate([outer + 2, w/2, 0])
circle(r);
rotate_extrude(convexity = 10)
translate([outer + (inner/2), w/2, 0])
circle(r);
}
translate([outer+0.5, 0, 2]) cylinder(10, 0.5, 0.5);
}
}

difference(){
union(){
pully(inner, outer, w/2, w);
disc(inner, outer);
}
mounts(screw, inner, outer);
}

</pre>

Dynamixel XL330 pulley

2026-05-13T08:46:07Z

Studio Director:

[[File:Xl330-pulley.png|thumb]]
<pre>
$fn=32;

w = 5.3; // cog thickness
inner = 6; // fixed number
outer = 10; // adjust this number to the edge of the teeth so that it 'hides' the holes
screw = 1;

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([inner,0,-2]) cylinder(outer, screw, screw);
translate([-inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(inner, outer){
// disc to 'cover' the gear library holes in your design
difference(){
cylinder(w, outer, outer);
cylinder(w, inner/2, inner/2);
}
}

module pully(inner, outer, r, w){
difference(){
difference(){
rotate_extrude(convexity = 10)
translate([outer + 2, w/2, 0])
circle(r);
rotate_extrude(convexity = 10)
translate([outer + (inner/2), w/2, 0])
circle(r);
}
translate([outer+0.5, 0, 2]) cylinder(10, 0.5, 0.5);
}
}

difference(){
union(){
pully(inner, outer, w/2, w);
disc(inner, outer);
}
mounts(screw, inner, outer);
}

</pre>

Dynamixel XL330 pulley

2026-05-13T08:40:15Z

Studio Director: Created page with "thumb <pre> use <gears/gears.scad>; // or include --> include <gears/gears.scad>; $fn=32; //spur_gear(modul=2, tooth_number=20, width=10, bore=10); w = 5.3; // cog thickness teeth = 24; // adjust number of teeth based on design inner = 6; // fixed number outer = 10; // adjust this number to the edge of the teeth so that it 'hides' the holes screw = 1; module mounts(screw, inner, outer){ // module for screw mounts union(){ unio..."

[[File:Xl330-pulley.png|thumb]]
<pre>
use <gears/gears.scad>;
// or include --> include <gears/gears.scad>;

$fn=32;
//spur_gear(modul=2, tooth_number=20, width=10, bore=10);
w = 5.3; // cog thickness
teeth = 24; // adjust number of teeth based on design
inner = 6; // fixed number
outer = 10; // adjust this number to the edge of the teeth so that it 'hides' the holes
screw = 1;

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([inner,0,-2]) cylinder(outer, screw, screw);
translate([-inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(inner, outer){
// disc to 'cover' the gear library holes in your design
difference(){
cylinder(w, outer, outer);
cylinder(w, inner/2, inner/2);
}
}

module pully(inner, outer, r, w){
difference(){
difference(){
rotate_extrude(convexity = 10)
translate([outer + 2, w/2, 0])
circle(r);
rotate_extrude(convexity = 10)
translate([outer + (inner/2), w/2, 0])
circle(r);
}
translate([outer+0.5, 0, 2]) cylinder(10, 0.5, 0.5);
}
}

difference(){
union(){
pully(inner, outer, w/2, w);
disc(inner, outer);
}
mounts(screw, inner, outer);
}

</pre>

File:Xl330-pulley.png

2026-05-13T08:40:03Z

Studio Director:

XL330 pulley

Servo accessories

2026-05-13T08:38:41Z

Studio Director:

* [[Dynamixel XL330 horns]]
* [[Dynamixel XL330 mounts]]
* [[Dynamixel XL330 cogs]]
* [[Dynamixel XL330 pulley]]

Simulators

2026-05-10T10:46:30Z

Studio Director:

== Circuit Simulators ==

* [[WOKWI]]
* https://www.falstad.com/circuit/

Simulators

2026-05-10T10:46:05Z

Studio Director:

Circuit Simulators

* [[WOKWI]]
* https://www.falstad.com/circuit/

Dynamixel XL330 cogs

2026-05-07T12:26:09Z

Studio Director:

Download this OpenSCAD Library: https://github.com/chrisspen/gears

- How to install Libraries in OpenSCAD: https://en.wikibooks.org/wiki/OpenSCAD_User_Manual/Libraries

XL 330 manual: https://emanual.robotis.com/docs/en/dxl/x/xl330-m288/

Example cog for XL330:
<pre>
use <gears/gears.scad>;
// or include --> include <gears/gears.scad>;

$fn=32;

w = 5.3; // cog thickness -- good size for the large screws included in the XL330
teeth = 24; // adjust number of teeth based on design
inner = 6; // fixed number
outer = 10; // adjust this number to the edge of the teeth so that it 'hides' the holes
screw = 1;

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([inner,0,-2]) cylinder(outer, screw, screw);
translate([-inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(inner, outer){
// disc to 'cover' the gear library holes in your design
difference(){
cylinder(w, outer, outer);
cylinder(w, inner/2, inner/2);
}
}

difference(){
union(){
spur_gear(modul=1, tooth_number=teeth, width=w, bore=inner);
disc(inner, outer);
}
mounts(screw, inner, outer);
}
</pre>

[[File:XL330-cog.png|thumb]]

== Other XL330 servo accessories ==

https://studio.cse.chalmers.se/mediawiki/index.php?title=Servo_accessories

Dynamixel XL330 cogs

2026-05-07T11:41:04Z

Studio Director:

Download this OpenSCAD Library: https://github.com/chrisspen/gears

- How to install Libraries in OpenSCAD: https://en.wikibooks.org/wiki/OpenSCAD_User_Manual/Libraries

Example cog for XL330:
<pre>
use <gears/gears.scad>;
// or include --> include <gears/gears.scad>;

$fn=32;

w = 5.3; // cog thickness -- good size for the large screws included in the XL330
teeth = 24; // adjust number of teeth based on design
inner = 6; // fixed number
outer = 10; // adjust this number to the edge of the teeth so that it 'hides' the holes
screw = 1;

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([inner,0,-2]) cylinder(outer, screw, screw);
translate([-inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(inner, outer){
// disc to 'cover' the gear library holes in your design
difference(){
cylinder(w, outer, outer);
cylinder(w, inner/2, inner/2);
}
}

difference(){
union(){
spur_gear(modul=1, tooth_number=teeth, width=w, bore=inner);
disc(inner, outer);
}
mounts(screw, inner, outer);
}
</pre>

[[File:XL330-cog.png|thumb]]

== Other XL330 servo accessories ==

https://studio.cse.chalmers.se/mediawiki/index.php?title=Servo_accessories

Dynamixel XL330 cogs

2026-05-07T11:40:26Z

Studio Director:

Download this OpenSCAD Library: https://github.com/chrisspen/gears

- How to install Libraries in OpenSCAD: https://en.wikibooks.org/wiki/OpenSCAD_User_Manual/Libraries

Example cog for XL330:
<pre>
use <gears/gears.scad>;
// or include --> include <gears/gears.scad>;

$fn=32;
//spur_gear(modul=2, tooth_number=20, width=10, bore=10);
w = 5.3; // cog thickness
teeth = 24; // adjust number of teeth based on design
inner = 6; // fixed number
outer = 10; // adjust this number to the edge of the teeth so that it 'hides' the holes
screw = 1;

module mounts(screw, inner, outer){
// module for screw mounts
union(){
union(){
union(){
translate([inner,0,-2]) cylinder(outer, screw, screw);
translate([-inner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,inner,-2]) cylinder(outer, screw, screw);
}
translate([0,-inner,-2]) cylinder(outer, screw, screw);
}
}

module disc(inner, outer){
// disc to 'cover' the gear library holes in your design
difference(){
cylinder(w, outer, outer);
cylinder(w, inner/2, inner/2);
}
}

difference(){
union(){
spur_gear(modul=1, tooth_number=teeth, width=w, bore=inner);
disc(inner, outer);
}
mounts(screw, inner, outer);
}
</pre>

[[File:XL330-cog.png|thumb]]

== Other XL330 servo accessories ==

https://studio.cse.chalmers.se/mediawiki/index.php?title=Servo_accessories

Dynamixel XL330 cogs

2026-05-07T10:38:11Z

Studio Director:

Download this OpenSCAD Library: https://github.com/chrisspen/gears

- How to install Libraries in OpenSCAD: https://en.wikibooks.org/wiki/OpenSCAD_User_Manual/Libraries

Example cog for XL330:
<pre>
use <gears/gears.scad>;
// or: include <gears/gears.scad>

$fn=32;
//spur_gear(modul=2, tooth_number=20, width=10, bore=10);
w = 5.3; // cog thickness
teeth = 24;
innner = 6;
outer = 10;
screw = 1;

difference(){
difference(){
difference(){
difference(){
union(){
difference(){
cylinder(w, outer, outer);
cylinder(w, 3, 3);
}
spur_gear(modul=1, tooth_number=teeth, width=w, bore=innner);
}
translate([innner,0,-2]) cylinder(outer, screw, screw);
}
translate([-innner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,innner,-2]) cylinder(outer, screw, screw);
}
translate([0,-innner,-2]) cylinder(outer, screw, screw);
}
</pre>

[[File:XL330-cog.png|thumb]]

== Other XL330 servo accessories ==

https://studio.cse.chalmers.se/mediawiki/index.php?title=Servo_accessories

Dynamixel XL330 cogs

2026-05-07T09:34:48Z

Studio Director:

Download this OpenSCAD Library: https://github.com/chrisspen/gears

- How to install Libraries in OpenSCAD: https://en.wikibooks.org/wiki/OpenSCAD_User_Manual/Libraries

Example cog for XL330:
<pre>
use <gears/gears.scad>;
// or: include <gears/gears.scad>

$fn=32;
//spur_gear(modul=2, tooth_number=20, width=10, bore=10);
w = 5.3; // cog thickness
teeth = 24;
innner = 6;
outer = 10;
screw = 1;

difference(){
difference(){
difference(){
difference(){
union(){
difference(){
cylinder(w, outer, outer);
cylinder(w, 3, 3);
}
spur_gear(modul=1, tooth_number=teeth, width=w, bore=innner);
}
translate([innner,0,-2]) cylinder(outer, screw, screw);
}
translate([-innner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,innner,-2]) cylinder(outer, screw, screw);
}
translate([0,-innner,-2]) cylinder(outer, screw, screw);
}
</pre>

[[File:XL330-cog.png|thumb]]

Dynamixel XL330 cogs

2026-05-07T09:34:41Z

Studio Director:

Download this OpenSCAD Library: https://github.com/chrisspen/gears
- How to install Libraries in OpenSCAD: https://en.wikibooks.org/wiki/OpenSCAD_User_Manual/Libraries

Example cog for XL330:
<pre>
use <gears/gears.scad>;
// or: include <gears/gears.scad>

$fn=32;
//spur_gear(modul=2, tooth_number=20, width=10, bore=10);
w = 5.3; // cog thickness
teeth = 24;
innner = 6;
outer = 10;
screw = 1;

difference(){
difference(){
difference(){
difference(){
union(){
difference(){
cylinder(w, outer, outer);
cylinder(w, 3, 3);
}
spur_gear(modul=1, tooth_number=teeth, width=w, bore=innner);
}
translate([innner,0,-2]) cylinder(outer, screw, screw);
}
translate([-innner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,innner,-2]) cylinder(outer, screw, screw);
}
translate([0,-innner,-2]) cylinder(outer, screw, screw);
}
</pre>

[[File:XL330-cog.png|thumb]]

Dynamixel XL330 cogs

2026-05-07T09:22:57Z

Studio Director: Created page with "Download this OpenSCAD Library: https://github.com/chrisspen/gears Example cog for XL330: <pre> use <gears/gears.scad>; // or: include <gears/gears.scad> $fn=32; //spur_gear(modul=2, tooth_number=20, width=10, bore=10); w = 5.3; // cog thickness teeth = 24; innner = 6; outer = 10; screw = 1; difference(){ difference(){ difference(){ difference(){ union(){ difference(){ cylinder(w, out..."

Download this OpenSCAD Library: https://github.com/chrisspen/gears

Example cog for XL330:
<pre>
use <gears/gears.scad>;
// or: include <gears/gears.scad>

$fn=32;
//spur_gear(modul=2, tooth_number=20, width=10, bore=10);
w = 5.3; // cog thickness
teeth = 24;
innner = 6;
outer = 10;
screw = 1;

difference(){
difference(){
difference(){
difference(){
union(){
difference(){
cylinder(w, outer, outer);
cylinder(w, 3, 3);
}
spur_gear(modul=1, tooth_number=teeth, width=w, bore=innner);
}
translate([innner,0,-2]) cylinder(outer, screw, screw);
}
translate([-innner,0,-2]) cylinder(outer, screw, screw);
}
translate([0,innner,-2]) cylinder(outer, screw, screw);
}
translate([0,-innner,-2]) cylinder(outer, screw, screw);
}
</pre>

[[File:XL330-cog.png|thumb]]

File:XL330-cog.png

2026-05-07T09:22:42Z

Studio Director:

servo cog

Servo accessories

2026-05-07T09:20:28Z

Studio Director:

* [[Dynamixel XL330 horns]]
* [[Dynamixel XL330 mounts]]
* [[Dynamixel XL330 cogs]]

3D printing

2026-05-06T12:49:56Z

Studio Director:

== 3D printers ==

We have three Prusa printers in the Studio, one MK4 and two [https://www.prusa3d.com/product/original-prusa-mk4s/ MK4S].

==== Install Prusa Software - PrusaSlicer ====

Download and install the PrusaSlicer software -- the software translates your 3D model into machine readable instructions for the 3D printer.
* https://github.com/prusa3d/PrusaSlicer/releases
* https://www.prusa3d.com/page/prusaslicer_424/

A configuration wizard might open up when install is complete, if this happens click through all steps and make sure the correct Prusa is selected in step 4 (see image).
[[File:ConfigurationWizard.png|thumb|Correct setting for PrusaSlicer for MK4 and MK4S]]

'''How to print'''

* Export your 3D model into .stl or .f3d file format
* Open 3D model with PrusaSlicer
* Check that all settings are correct, make sure to add support when needed
* Press button "Slice now" in the bottom right corner
* If everything looks ok, export the file by pressing "Export G-code" in the bottom right corner
* Now you have a .gcode file, put the file into a USB stick and plug it into the 3D printer
** After plugging the USB stick you should see your model on the Prusa screen
** If you don't see your model on the Prusa screen turn the knob on the screen panel to find your file
* Press the knob to start printing your model
* Stay and check that the print start correctly. If the print fails, something with the settings on the slice is wrong and you need to go back and change the settings

[[File:MK4S-1.png|thumb|Prusa MK4S]]



==== How the settings look like in the PrusaSlicer ====

Settings for the '''Prusa MK4''' on the Prusaslicer (with enclosure):

* '''Print settings''': 0.20mm SPEED
* '''Filament''': Generic PLA
* '''Printer''': Original Prusa MK4 Input Shaper 0.4 nozzle
* '''Supports''': None (change to "Support on the build plate only" in case you get error messages after the slicing is done -- this setting depends on your geometry)
* '''Infill''': 15% (recommended)
* '''Brim''': [unticked] (Select to print a so-called brim in case is necessary for your geometry, typically when you have little touching surface with the build plate)

[[File:prusa-slicer-settings.png|thumb|Prusaslicer settings for MK4]]

Settings for the '''Prusa MK4S''' on the Prusaslicer (no enclosure):

* '''Print settings''': 0.20mm SPEED
* '''Filament''': Generic PLA
* '''Printer''': Original Prusa MK4S 0.4 nozzle
* '''Supports''': None (change to "Support on the build plate only" in case you get error messages after the slicing is done -- this setting depends on your geometry)
* '''Infill''': 15% (recommended)
* '''Brim''': [unticked] (Select to print a so-called brim in case is necessary for your geometry, typically when you have little touching surface with the build plate)

Dynamixel XL330 horns

2026-05-05T13:13:28Z

Studio Director:

<pre>
$fn=32;

inner = 6; // 6mm inner empty space for front hornet screw
outer = 8.25; // 8.25mm outer radius of XL330 servo hornet

r = 0.7; // d=1.6mm pins on the XL330 servo hornet (inlet)
l = 2.5; // l=2.5mm, how deep the inlet travel in the hornet -- 2.5mm
t = 2; // t=2mm, global thickness
d = 17; // d=16mm, front/back hand distance
h = 29; // h=30mm, upper hand distance
fac = 1.25;

module pins(r, l, t){
/* r: radius, l: length, t: thickness */
translate([inner,0,t]) cylinder(l, r, r);
translate([-inner,0,t]) cylinder(l, r, r);
translate([0,inner,t]) cylinder(l, r, r);
translate([0,-inner,t]) cylinder(l, r, r);
}

module disc(thichness=t){
difference(){
union(){
cylinder(t, outer, outer);
cylinder(t, t, t);
}
cylinder(t, inner/2, inner/2);
}
}

module frontArm(d, t){
difference(){
translate([-outer/2, 0, 0]) cube([outer, d, t]);
cube([2*inner,2*inner,2*t],true);
}
}

module upperArm(d, h, t){
rotate([90,0,0]) translate([-outer/2, 0, -d]) cube([outer, h, t]);
}

module backArm(d, h, t){
union(){
translate([-outer/2, -(2*t), h]) cube([outer, d+(2*t), t]);
translate([0, 0, h-(fac*t)]) cylinder(fac*t, inner/2, inner/2);
}
}

//
union(){
union(){
union(){
union(){
pins(r, l, t);
disc(t);
}
frontArm(d, t);
}
upperArm(d, h, t);
}
backArm(d, h, t);
}
</pre>

[[File:Xl330-rotating-horn-modular.png|thumb]]

Dynamixel XL330 horns

2026-05-05T12:58:49Z

Studio Director:

<pre>
$fn=32;

inner = 6; // 6mm inner empty space for front hornet screw
outer = 8.25; // 8.25mm outer radius of XL330 servo hornet

r = 0.7; // d=1.6mm pins on the XL330 servo hornet (inlet)
l = 2.5; // l=2.5mm, how deep the inlet travel in the hornet -- 2.5mm
t = 2; // t=2mm, global thickness
d = 17; // d=16mm, front/back hand distance
h = 29; // h=30mm, upper hand distance
fac = 1.5;

module pins(r, l, t){
/* r: radius, l: length, t: thickness */
translate([inner,0,t]) cylinder(l, r, r);
translate([-inner,0,t]) cylinder(l, r, r);
translate([0,inner,t]) cylinder(l, r, r);
translate([0,-inner,t]) cylinder(l, r, r);
}

module disc(thichness=t){
difference(){
union(){
cylinder(t, outer, outer);
cylinder(t, t, t);
}
cylinder(t, inner/2, inner/2);
}
}

module frontArm(d, t){
difference(){
translate([-outer/2, 0, 0]) cube([outer, d, t]);
cube([2*inner,2*inner,2*t],true);
}
}

module upperArm(d, h, t){
rotate([90,0,0]) translate([-outer/2, 0, -d]) cube([outer, h, t]);
}

module backArm(d, h, t){
union(){
translate([-outer/2, -(2*t), h]) cube([outer, d+(2*t), t]);
translate([0, 0, h-(fac*t)]) cylinder(fac*t, inner/2, inner/2);
}
}

//
union(){
union(){
union(){
union(){
pins(r, l, t);
disc(t);
}
frontArm(d, t);
}
upperArm(d, h, t);
}
backArm(d, h, t);
}
</pre>

[[File:Xl330-rotating-horn-modular.png|thumb]]

File:Xl330-rotating-horn-modular.png

2026-05-05T12:58:35Z

Studio Director:

XL330 attachable horn, programmed in modules.

Dynamixel XL330 horns

2026-05-05T12:57:09Z

Studio Director:

<pre>
$fn=32;

inner = 6; // 6mm inner empty space for front hornet screw
outer = 8.25; // 8.25mm outer radius of XL330 servo hornet

r = 0.7; // d=1.6mm pins on the XL330 servo hornet (inlet)
l = 2.5; // l=2.5mm, how deep the inlet travel in the hornet -- 2.5mm
t = 2; // t=2mm, global thickness
d = 17; // d=16mm, front/back hand distance
h = 29; // h=30mm, upper hand distance
fac = 1.5;

module pins(r, l, t){
/* r: radius, l: length, t: thickness */
translate([inner,0,t]) cylinder(l, r, r);
translate([-inner,0,t]) cylinder(l, r, r);
translate([0,inner,t]) cylinder(l, r, r);
translate([0,-inner,t]) cylinder(l, r, r);
}

module disc(thichness=t){
difference(){
union(){
cylinder(t, outer, outer);
cylinder(t, t, t);
}
cylinder(t, inner/2, inner/2);
}
}

module frontArm(d, t){
difference(){
translate([-outer/2, 0, 0]) cube([outer, d, t]);
cube([2*inner,2*inner,2*t],true);
}
}

module upperArm(d, h, t){
rotate([90,0,0]) translate([-outer/2, 0, -d]) cube([outer, h, t]);
}

module backArm(d, h, t){
union(){
translate([-outer/2, -(2*t), h]) cube([outer, d+(2*t), t]);
translate([0, 0, h-(fac*t)]) cylinder(fac*t, inner/2, inner/2);
}
}

//
union(){
union(){
union(){
union(){
pins(r, l, t);
disc(t);
}
frontArm(d, t);
}
upperArm(d, h, t);
}
backArm(d, h, t);
}
</pre>

Dynamixel XL330 horns

2026-05-05T12:56:42Z

Studio Director: /* XL330 horns */

$fn=32;

inner = 6; // 6mm inner empty space for front hornet screw
outer = 8.25; // 8.25mm outer radius of XL330 servo hornet

r = 0.7; // d=1.6mm pins on the XL330 servo hornet (inlet)
l = 2.5; // l=2.5mm, how deep the inlet travel in the hornet -- 2.5mm
t = 2; // t=2mm, global thickness
d = 17; // d=16mm, front/back hand distance
h = 29; // h=30mm, upper hand distance
fac = 1.5;

module pins(r, l, t){
/* r: radius, l: length, t: thickness */
translate([inner,0,t]) cylinder(l, r, r);
translate([-inner,0,t]) cylinder(l, r, r);
translate([0,inner,t]) cylinder(l, r, r);
translate([0,-inner,t]) cylinder(l, r, r);
}

module disc(thichness=t){
difference(){
union(){
cylinder(t, outer, outer);
cylinder(t, t, t);
}
cylinder(t, inner/2, inner/2);
}
}

module frontArm(d, t){
difference(){
translate([-outer/2, 0, 0]) cube([outer, d, t]);
cube([2*inner,2*inner,2*t],true);
}
}

module upperArm(d, h, t){
rotate([90,0,0]) translate([-outer/2, 0, -d]) cube([outer, h, t]);
}

module backArm(d, h, t){
union(){
translate([-outer/2, -(2*t), h]) cube([outer, d+(2*t), t]);
translate([0, 0, h-(fac*t)]) cylinder(fac*t, inner/2, inner/2);
}
}

//
union(){
union(){
union(){
union(){
pins(r, l, t);
disc(t);
}
frontArm(d, t);
}
upperArm(d, h, t);
}
backArm(d, h, t);
}

Dynamixel XL330 horns

2026-05-02T04:23:23Z

Studio Director:

= XL330 horns =

OpenSCAD code

<pre>
$fn=32;

inner = 6; // 6mm inner empty space for front hornet screw
outer = 8.25; // 8.25mm outer radius of XL330 servo hornet

r = 0.8; // d=1.6mm pins on the XL330 servo hornet (inlet)
l = 2.5; // l=2.5mm, how deep the inlet travel in the hornet -- 2.5mm
t = 2; // t=2mm, global thickness
d = 16; // d=16mm, front/back hand distance
h = 30; // h=30mm, upper hand distance

module pins(r, l, t){
/* r: radius, l: length, t: thickness */
translate([inner,0,t]) cylinder(l, r, r);
translate([-inner,0,t]) cylinder(l, r, r);
translate([0,inner,t]) cylinder(l, r, r);
translate([0,-inner,t]) cylinder(l, r, r);
}

module disc(thichness=t){
difference(){
union(){
cylinder(t, outer, outer);
cylinder(t, t, t);
}
cylinder(t, inner/2, inner/2);
}
}

module frontArm(d, t){
difference(){
translate([-outer/2, 0, 0]) cube([outer, d, t]);
cube([2*inner,2*inner,2*t],true);
}
}

module upperArm(d, h, t){
rotate([90,0,0]) translate([-outer/2, 0, -d]) cube([outer, h, t]);
}

module backArm(d, h, t){
union(){
translate([-outer/2, -(2*t), h]) cube([outer, d+(2*t), t]);
translate([0, 0, h-t]) cylinder(t, inner/2, inner/2);
}
}

//
union(){
union(){
union(){
union(){
pins(r, l, t);
disc(t);
}
frontArm(d, t);
}
upperArm(d, h, t);
}
backArm(d, h, t);
}

</pre>

[[File:Xl330-horn-modular.png|thumb]]

File:Xl330-horn-modular.png

2026-05-02T04:23:03Z

Studio Director:

Dynamixel XL330 servo horn.

Dynamixel XL330 horns

2026-05-02T04:21:09Z

Studio Director:

Dynamixel XL330 horns

2026-05-02T04:20:51Z

Studio Director: /* XL330 horns */

Dynamixel XL330 horns

2026-05-02T04:20:33Z

Studio Director:

Dynamixel XL330 horns

2026-05-02T04:20:05Z

Studio Director:

Dynamixel XL330 horns

2026-05-02T04:18:41Z

Studio Director: Created page with "= XL330 horns = OpenSCAD code <pre> $fn=32; inner = 6; // 6mm inner empty space for front hornet screw outer = 8.25; // 8.25mm outer radius of XL330 servo hornet r = 0.8; // d=1.6mm pins on the XL330 servo hornet (inlet) l = 2.5; // l=2.5mm, how deep the inlet travel in the hornet -- 2.5mm t = 2; // t=2mm, global thickness d = 16; // d=16mm, front/back hand distance h = 30; // h=30mm, upper hand distance module pins(r, l, t){ /* r: radius, l: length, t: thickne..."

File:Dynamixel-xl330-rotating-horn.png.png

2026-05-02T04:18:18Z

Studio Director:

Rotating horn for XL330

Servo accessories

2026-04-30T12:43:13Z

Studio Director: Created page with "* Dynamixel XL330 horns * Dynamixel XL330 mounts"

* [[Dynamixel XL330 horns]]
* [[Dynamixel XL330 mounts]]

3D printing models

2026-04-30T12:40:18Z

Studio Director: Created page with "* Servo accessories"

* [[Servo accessories]]

Main Page

2026-04-30T12:33:39Z

Studio Director: /* Useful Documents */

== IxD Studio Equipment ==

The wiki mostly serves as technical support and inquiry for available equipment related to:

* [[3D printing]]
* [[Electronics]]
* [[Laser cutting]]
* [[Printers]]


== Useful Documents ==

* [[Studio internal]]
* [[3D printing models]]

== Useful Software ==

* [[CAD]]
* [[Programming]]
* [[Simulators]]

Dynamixel XL330

2026-04-25T17:56:02Z

Studio Director:

= XL330-M288-T =

Manual: https://emanual.robotis.com/docs/en/dxl/x/xl330-m288/

== Dimensions ==
See the mechanical diagram: https://www.robotis.com/service/download.php?no=1986

Dynamixel XL330

2026-04-25T17:55:27Z

Studio Director: /* XL330-M288-T */

= XL330-M288-T =

== Dimensions ==
See the mechanical diagram: https://www.robotis.com/service/download.php?no=1986

Programming Dynamixel servos

2026-04-25T17:37:21Z

Studio Director: /* OpenRB-150 */

= Dynamixel Wizard Software =

Dynamixel servos have an assigned ID that ranges from 0-252. In order to control each servo individually when interconnected in a daisy-chain manner, each servo must have a unique ID.

= OpenRB-150 =

To assign unique ID to the servos we use the Dynamixel Wizard software and the OpenRB-150 board. After installation of the OpenRB-150 board using the Arduino board manager, we can find the example "usb_2_dynamixel". We upload via the example to the board, then quit the Arduino IDE and open the Dynamixel Wizard software.

Search the following videos on the ROBOTIS OpenSourceTeam Youtube channel:
- DYNAMIXEL Quick Start Guide with Arduino
- DYNAMIXEL Tips | Use ID Inspection to resolve duplicated ID collision

Programming Dynamixel servos

2026-04-25T17:33:38Z

Studio Director: Created page with "= Dynamixel Wizard Software = Dynamixel servos have an assigned ID that ranges from 0-252. In order to control each servo individually when interconnected in a daisy-chain manner, each servo must have a unique ID. = OpenRB-150 = To assign unique ID to the servos we use the Dynamixel Wizard software and the OpenRB-150 board. After installation of the OpenRB-150 board using the Arduino board manager, we can find the example "usb_2_dynamixel". We upload via the example t..."

Digital servos

2026-04-25T17:28:18Z

Studio Director:

* [[Dynamixel XL320]]
* [[Dynamixel XL330]]
* [[Programming Dynamixel servos]]

Dynamixel XL330

2026-04-25T17:27:34Z

Studio Director: Created page with "= XL330-M288-T ="

= XL330-M288-T =