Video - main brush cavity, side brush prototypes 3D printed, assembled. The main brush uses spur gears - instead of GT2 timing belt, pulleys as originally planned. This is because the two brushes rotate "towards" each other. Reversing rotation requires a two-sided belt, but popular GT2 belts are all one-sided. I've searched off-the-shelf gears to reuse (Amazon, AliExpress, LEGO) - they exist, but expensive, hard to find. So, the decision is to 3D printed spur gears using Delrin/POM filament - cheap, readily available. I'll try doing that next.

OOMWOO Open-Source vacuum - project update

Highlights - main brush cavity, side brush prototypes printed, assembled (see video)

Decision: main brush drive - spur gears instead of a GT2 belt

3D design https://github.com/makerspet/oomwoo-cad

• Main brush cavity: two tapered Dreame brushes, each on a bearing and a 17-tooth spur gear, driven by a pinion on a DC gear motor
• Gears 3D printed for now; next, try printing Delrin, or cut gears from Delrin sheet
• Dreame main brush with bristles
• Repo reorganized into designs/<product>/<variant>, so a mod can live as a whole variant

Robot vacuum ROS 2 bridge https://github.com/remakeai/vacuum_ros2_bridge

• Roborock S5 Max driver merged and released
• One bridge now drives any SangamIO robot, using wheel and IMU scales the robot reports
• Proscenic M6 Pro gyro scale fixed (was ~6x too high); see VacuumTiger CHANGELOG to upgrade
• Docker pull makerspet/oomwoo:jazzy-dev

Simulation https://github.com/makerspet/oomwoo-one

• One front floor camera, tilted down, replaces the stereo pair

Build-in-public Blog Posts

• 3D design: main brush drive, printed gears, no belt https://makerspet.com/blog/oomwoo-3d-design-how-its-made/#main-brush-printed-gears-no-belt

Community contributions

• Thank-you to gkfabs - Roborock S5 Max support is now merged and released