3D Printed RC Tugboat with Azimuth Thrusters
This 3D printed and radio controlled tractor tug model uses fully functional azimuth thrusters for propulsion.
Project Video
Description
This radio-controlled tugboat features an azimuth stern drive system and feels just like a real ASD harbour tug in the water. The entire vessel is 3D printed, and radio controlled by ESP32 microcontrollers + NRF24 radio modules.
Azimuth drive systems allow the propulsion units to rotate 360 degrees, providing the ability to move in any direction without a rudder. This makes it perfect for replicating real ASD tugboat operations and maneuvers.
The vessel design is based on a real ASD tugboat near me.
Links
Some important links related to this project, such as where to download 3D print files and access code repositories.
Parts List
Here is a list of parts that are not 3D printed, such as electronics and hardware (Most of the links are AliExpress affiliate links).
Electronics
- 1x ESP32 Development Board
- 1x NRF24L01+ Radio Module with expansion board
- 2x Rotary Encoders (5 pins: SW1, SW2, KEY, 5V, GND)
- 1x 5V Power supply (USB or battery)
- 1x 0.91" OLED screen
- 1x ESP32 Development Board with Expansion Board
- 1x NRF24L01+ Radio Module with expansion board
- 2x 28BYJ-48 Stepper Motors with ULN2003 Driver Boards
- 2x Brushed DC Motors
- 1x ESC for two Brushed DC Motors
- 1x Power supply for DC motors/ESC
- 1x 5V Power supply (USB or battery)
Hardware
- 2x 3mm steal rods to cut for drive shafts
- 2x 3mm to 3mm shaft couplers for DC motors
- 4x 0.8M 15T Bevel Gears with 3mm bore
- 8x 8mm/3mm/4mm bearings for drive shafts
- 2x 6mm/3mm/2.5mm bearings for drive shafts
- 2x 608 bearings (skateboard size) for thruster rotation
- 4x M4 10mm bolts for joining deck sections
- 8x M3 10mm bolts for bracket and motor mounts
- Glue for joining hull sections (Selleys super glue worked well)
- Vaseline/Petroleum jelly for greasing gears and waterproofing gaps around thrusters
Photo Gallery
Fusion 360 model from below
Completed tugboat in the water
Underwater view of thrusters and hull
Stern view in the water
Half submerged waterline view
View of electronics in the hull