0 Palm Vex Robot
0 Name: PalmVex.ldr
0 Author: MLCad
0 Unofficial Model
0 WRITE Main chassis - note orientation of screws
0 ROTATION CENTER 0 0 0 1 "Custom" 
0 ROTATION CONFIG 0 0
1 0 140 19 -251 0 1 0 0 0 -1 -1 0 0 VoContrl.dat
1 0 399.001 85 -519.998 0 0 1 0 -1 0 1 0 0 VpChsBmp.dat
1 0 168.999 85 -523.999 0 -1 0 0 0 -1 1 0 0 VpChsBmp.dat
1 0 421.001 33 -462.998 0 -1 0 -1 0 0 0 0 -1 VfSc8050.dat
1 0 425 6 -486 0 -1 0 0 0 -1 1 0 0 VfNutKps.dat
1 0 420 33 -270 0 -1 0 -1 0 0 0 0 -1 VfSc8050.dat
1 0 423.999 6 -293.001 0 -1 0 0 0 -1 1 0 0 VfNutKps.dat
1 0 162.998 33 -271 0 -1 0 -1 0 0 0 0 -1 VfSc8050.dat
1 0 167 6 -294.001 0 -1 0 0 0 -1 1 0 0 VfNutKps.dat
1 0 164.002 33 -462 0 -1 0 -1 0 0 0 0 -1 VfSc8050.dat
1 0 168.002 6 -485 0 -1 0 0 0 -1 1 0 0 VfNutKps.dat
0 STEP
0 WRITE Right Rear Wheel assembly
1 0 461 59 -134 0 0 -1 0 1 0 1 0 0 VfBrgFlt.dat
1 0 462 85 -133 0 0 1 0 -1 0 1 0 0 VfBrgFlt.dat
1 0 489 82 -64.999 -1 0 0 0 -1 0 0 0 1 VfSc8075.dat
1 0 442 86 -41 0 0 -1 0 -1 0 -1 0 0 VfNutKps.dat
1 0 488.999 82 -127.998 -1 0 0 0 -1 0 0 0 1 VfSc8075.dat
1 0 441.999 86 -104.001 0 0 -1 0 -1 0 -1 0 0 VfNutKps.dat
1 0 552.001 75 -83.002 0 0 -1 0 -1 0 -1 0 0 VpAxle02.dat
1 0 440 85 -72.002 0 0 -1 0 -1 0 -1 0 0 VfCollar.dat
1 0 495.001 82 -76.998 0 0 -1 0 -1 0 -1 0 0 VfSpcThn.dat
1 0 520 -15.001 2 0 0 -1 1 0 0 0 -1 0 VwSmall.dat
1 0 540.998 86 -73.002 0 0 -1 0 -1 0 -1 0 0 VfCollar.dat
0 STEP
0 WRITE Left  Rear Wheel assembly
1 0 106.999 83 -134.002 0 0 1 0 -1 0 1 0 0 VfBrgFlt.dat
1 0 106 56.998 -133 0 0 -1 0 1 0 1 0 0 VfBrgFlt.dat
1 0 79.002 60.001 -65 1 0 0 0 1 0 0 0 1 VfSc8075.dat
1 0 126.002 56 -41 0 0 1 0 1 0 -1 0 0 VfNutKps.dat
1 0 79.002 60.001 -128.001 1 0 0 0 1 0 0 0 1 VfSc8075.dat
1 0 126.002 56 -104.002 0 0 1 0 1 0 -1 0 0 VfNutKps.dat
1 0 15.999 67 -82.999 0 0 1 0 1 0 -1 0 0 VpAxle02.dat
1 0 127.996 56.998 -71.999 0 0 1 0 1 0 -1 0 0 VfCollar.dat
1 0 73 59 -76.001 0 0 1 0 1 0 -1 0 0 VfSpcThn.dat
0 WRITE This gear should be an OmniDirectional Wheel
1 0 46.002 -17.001 1 0 0 1 0 1 0 -1 0 0 VwSmall.dat
1 0 26.999 55.999 -73.001 0 0 1 0 1 0 -1 0 0 VfCollar.dat
0 STEP
0 WRITE Left Front motor/wheel assembly
1 0 273 45.999 -515 0 0 -1 0 1 0 1 0 0 VoMotor.dat
1 0 129 60.999 -515 0 0 -1 0 1 0 1 0 0 VfSpcThk.dat
1 0 96 60 -494 1 0 0 0 0 1 0 -1 0 VfSc8050.dat
1 0 129 60.999 -483 0 0 -1 0 1 0 1 0 0 VfSpcThk.dat
1 0 96 60 -463 1 0 0 0 0 1 0 -1 0 VfSc8050.dat
0 WRITE This collar may not be necessary but it guarantees the wheel stays attached :-)
1 0 111 85 -427 0 0 1 -1 0 0 0 -1 0 VfCollar.dat
1 0 30 76 -437 0 0 1 -1 0 0 0 -1 0 VpAxle02.dat
1 0 90 83 -432 0 0 1 -1 0 0 0 -1 0 VfSpcThn.dat
0 WRITE This gear should be the small wheel
1 0 54 160 -350 0 0 1 -1 0 0 0 -1 0 VwSmall.dat
1 0 43 86 -428 0 0 1 -1 0 0 0 -1 0 VfCollar.dat
0 WRITE You can add an optical encoder with screws into the chassis bumper for stabilization.
0 STEP
0 WRITE Right Front motor/wheel assembly
1 0 296 96.999 -512 0 0 1 0 -1 0 1 0 0 VoMotor.dat
1 0 440 81.999 -512 0 0 1 0 -1 0 1 0 0 VfSpcThk.dat
1 0 473.001 82.997 -491 -1 0 0 0 0 -1 0 -1 0 VfSc8050.dat
1 0 439.999 81.998 -479.996 0 0 1 0 -1 0 1 0 0 VfSpcThk.dat
1 0 472.999 82.998 -460.002 -1 0 0 0 0 -1 0 -1 0 VfSc8050.dat
0 WRITE This collar may not be necessary but it guarantees the wheel stays attached :-)
1 0 458.002 57.997 -424 0 0 -1 1 0 0 0 -1 0 VfCollar.dat
1 0 539 66.998 -434 0 0 -1 1 0 0 0 -1 0 VpAxle02.dat
1 0 479 59.999 -429.002 0 0 -1 1 0 0 0 -1 0 VfSpcThn.dat
0 WRITE This gear should be the small wheel
1 0 517 -17.001 -350 0 0 -1 1 0 0 0 -1 0 VwSmall.dat
1 0 526 56.998 -424.998 0 0 -1 1 0 0 0 -1 0 VfCollar.dat
0 WRITE You can add an optical encoder with screws into the chassis bumper for stabilization.
0 STEP
0 WRITE Back bar/battery holder
1 0 274 26.999 -281 1 0 0 0 0 1 0 -1 0 VpBar110.dat
1 0 166 11.999 -49 0 0 -1 1 0 0 0 -1 0 VfSc8038.dat
1 0 143 29 -45 1 0 0 0 0 1 0 -1 0 VfNutKps.dat
1 0 422 11.999 -46 0 0 -1 1 0 0 0 -1 0 VfSc8038.dat
1 0 399 32 -42 1 0 0 0 0 1 0 -1 0 VfNutKps.dat
1 0 274 24.999 -217 1 0 0 0 0 1 0 -1 0 VpBar110.dat
1 0 167 11.999 -112 0 0 -1 1 0 0 0 -1 0 VfSc8038.dat
1 0 144 32 -108 1 0 0 0 0 1 0 -1 0 VfNutKps.dat
1 0 422 11.999 -112 0 0 -1 1 0 0 0 -1 0 VfSc8038.dat
1 0 399 32 -108 1 0 0 0 0 1 0 -1 0 VfNutKps.dat
0 STEP
0 WRITE Bottom cover.  Use connectors to get two 5x15 plates together and then attach as shown here.
0 WRITE As drawn, the plates need to bend slightly to fit over the motors.  Taller beams should fix that...
1 0 373 -33 -48 1 0 0 0 0 1 0 -1 0 VpBm100.dat
1 0 392 20 -46 0 0 -1 1 0 0 0 -1 0 VfSc8038.dat
1 0 402 -34 -335 1 0 0 0 0 1 0 -1 0 VpBm100.dat
1 0 423 -2 -334 0 0 -1 1 0 0 0 -1 0 VfSc8038.dat
1 0 299 93 -519 0 1 0 0 0 1 1 0 0 VpPlt515.dat
1 0 107 93 -521 0 1 0 0 0 1 1 0 0 VpPlt515.dat
1 0 402 103 -353 0 1 0 -1 0 0 0 0 1 VfSc8038.dat
1 0 371 103 -65 0 1 0 -1 0 0 0 0 1 VfSc8038.dat
0 STEP
0 WRITE S Brackets hold palm to robot.  Palm sync cable prevents sliding.
1 0 142 18 -173 1 0 0 0 0 1 0 -1 0 VpBrS111.dat
1 0 115 38 -144 0 0 1 -1 0 0 0 -1 0 VfSc8038.dat
1 0 138 19 -139 -1 0 0 0 0 -1 0 -1 0 VfNutKps.dat
1 0 423.124 18 -78.937 -0.965926 -0.258819 0 0 0 1 -0.258819 0.965926 0 VpBrS111.dat
1 0 455.414 34 -95.13 0 -0.258819 -0.965926 -1 0 0 0 0.965926 -0.258819 VfSc8038.dat
1 0 434.494 19 -105.915 0.965926 -0.258819 0 0 0 -1 0.258819 0.965926 0 VfNutKps.dat
1 0 432.866 18 -198.229 -0.965926 0.258819 0 0 0 1 0.258819 0.965926 0 VpBrS111.dat
1 0 451.061 38 -226.917 0 0.258819 -0.965926 -1 0 0 0 0.965926 0.258819 VfSc8038.dat
1 0 427.551 19 -225.797 0.965926 0.258819 0 0 0 -1 -0.258819 0.965926 0 VfNutKps.dat
0 WRITE Adjust these last 2 S Brackets as necessary to enable the palm to slide in easily.
0 WRITE Connect the palm sync cable between these 2 S Brackets to hold the palm in place.
0 WRITE The battery and cables fit snugly in the empty space inside the robot.
0 WRITE A bar around the front with bumpers needs to be drawn yet.
0 WRITE Mounting of ultrasonics needs to be drawn when parts are available.
0