Rahmen und 3D-Druck
Die Druckteile im Repository, ihre Slicer-Einstellungen und was noch fehlt.
Originaltitel im Repository: Frame Extension and 3D Prints
Goal 1.4 of the Implementation Reference is a frame extension that carries the MTF-01P, the payload servo, and the Raspberry Pi with its camera. This document lists the print files that exist in the repository, what each one is, and how they were sliced.
1. What is in hardware/3d-prints/
hardware/3d-prints/
├── Body-withSupports.stl Raspberry Pi Zero enclosure body
├── Body-withSupports.3mf the same part, sliced for a Prusa XL
└── drone-rubber-prusa/
├── front_rubber_clean_oriented_prusa.{stl,3mf}
├── rear_rubber_clean_oriented_prusa.{stl,3mf}
└── side_rubber_clean_oriented_prusa.{stl,3mf}
Each part is stored twice on purpose. The STL is the geometry — open it in any slicer, on any printer. The 3MF carries the part and the settings it was actually printed with, so an identical print needs no re-configuration. Edit geometry from the STL; reprint from the 3MF.
| Part | Size (X × Y × Z) | Material | What it is |
|---|---|---|---|
Body-withSupports |
37.6 × 72.6 × 13.4 mm | PETG | Enclosure body for the Raspberry Pi Zero 2 WH. Supports are part of the model, not slicer-generated |
front_rubber |
32.5 × 18.3 × 35.0 mm | TPU 95A | Front soft frame part of the BEE35 duct assembly |
rear_rubber |
26.2 × 33.7 × 34.0 mm | TPU 95A | Rear soft frame part |
side_rubber |
20.8 × 11.5 × 35.0 mm | TPU 95A | Side soft frame part — two are needed, one per side |
The soft parts are printed in flexible filament because they double as vibration isolation. Optical flow and the EKF3 state estimate are sensitive to frame vibration, so printing these in a rigid filament is not a substitution — it changes how well the drone holds position indoors.
2. Print settings
Taken from the 3MF files, which were sliced in PrusaSlicer for an
Original Prusa XL, 2 tool heads, 0.4 mm nozzle, profile
0.20mm SPEED @XL 0.4.
| Setting | Body | Soft parts |
|---|---|---|
| Layer height | 0.20 mm | 0.20 mm |
| First layer | 0.20 mm | 0.20 mm |
| Perimeters | 2 | 2 |
| Infill | 30 % | 30 % |
| Filament | PETG | Prusament TPU 95A + PETG |
| Nozzle temperature | 240 °C | 225 °C (TPU) / 240 °C (PETG) |
| Bed temperature | 80 °C | 65 °C (TPU) / 80 °C (PETG) |
| Slicer supports | off | off |
The soft parts are two-material prints with a wipe tower. On a single-extruder printer, load TPU 95A and print them in one material — the PETG in the profile is the second tool, not a structural requirement of the part.
Body-withSupports has its supports modelled into the geometry, which is why
slicer support generation is off. Do not turn it on; you will get supports on
top of supports.
3. Slicing and printing
With PrusaSlicer or another slicer that reads 3MF:
File → Import → Import 3MF, then slice and export the G-code.
With Cura, or any other slicer:
Import the .stl, then apply the settings from the table above.
The parts are already oriented for printing — *_oriented_prusa in the file
name means the rotation is baked in. Re-orienting a flexible part usually
makes it worse, not better.
4. What the frame extension still has to carry
The pieces above are the enclosure and the soft frame parts. The August design record left the mounting plate open. Compare the current assembly against the newest hardware capture; the mount has to hold:
| Component | Requirement |
|---|---|
| MicoAir MTF-01P | Pointing straight down, with nothing in its field of view — that includes the payload and the payload arm |
| Payload servo + release arm | Rigid enough that the arm does not flex out of the retained position — see Payload Drop Mechanism |
| Raspberry Pi Zero 2 WH | Uses the Body enclosure; the UART4 cable and the USB port must stay reachable |
| Pi AI Camera (IMX500) | Downward-facing for AprilTags in the present project; preserve the CSI ribbon bend radius and strain relief |
Mounting hardware provided with the kit: M3 standoffs with M3×9 mm and M3×12 mm screws.
Two constraints apply to anything added to this airframe:
- Mass. A 3.5" CineWhoop with ducts and propeller guards has limited headroom. Every gram added to the extension comes off the flight time, and the drop mechanism has to lift the payload as well.
- Balance. The payload hangs below the centre of gravity. Mount it on the centreline; an offset load shows up as a constant attitude correction and degrades position hold.
CAD is done in Tinkercad and sliced in Cura or PrusaSlicer, per the Implementation Reference.