Radio Controlled Tugboat|| with Azimuth Thrusters

About the Project

A 3D printable RC tugboat with a Z-drive and functional 360º azimuth/Schottel pods. The model is based on a real tugboat from Port Otago, New Zealand named 'Arihi'.

Radio control uses a custom ESP32 set up with NRF24L01 modules for two way comms. The controller has 2x rotary encoders for the azimuth thruster controls and a OLED screen with live position feedback.

Project Video

Files and Links

STL Print Files

ESP32 Code

Parts List

Electronics, bearings, bolts, and anything else that isn't 3D printed. Some links are AliExpress affiliate links.

Electronics for Boat

1x ESP32 Dev Board (expansion board recommended)
1x NRF24L01+ Radio Module with expansion board
2x 28BYJ-48 Stepper Motors with ULN2003 Driver Boards
2x DC Brushed Motors (I used 31ZY 12v 3500RPM)
1x 5V Power Supply. I use an 18650 battery charger module.
1x 12v Battery and Dual ESC for DC Motors

Electronics for Controller

1x ESP32 Dev Board
1x NRF24L01+ Radio Module with expansion board
1x 5V power supply. I use 3.7v LiPo with 5v output charging module.
2x Rotary Encoders (5 pins - SW1, SW2, KEY, 5V, GND)
1x 0.91" OLED Screen
1x On/Off Switch

Standard Hardware

2x 150mm x 3mm steal rods for drive shafts (cut to length)
2x 3mm to 3mm shaft couplers for DC motors
8x bearings - 4 for each side (8mm/3mm/4mm)
2x bearings - 1 for each side (6mm/3mm/2.5mm)
2x 608 bearings for mounting azimuth pods
4x M4 10mm bolts for joining deck sections
8x M3 10mm bolts for motor mounts and brace

Other Stuff

Glue for joining hull sections (I used Selleys super glue)
Vaseline for waterproofing around the pods/shafts and greasing gears
4x Bevel Gears for gearboxes (0.8M 15T) - These are printable but the metal ones mesh so nicely I ended up using them.

Links are AliExpress affiliate links.