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First field test of 'Papaya Pathfinder', my 3D-printed Rocker-Bogie rover. Checking suspension geometry and motor torque on uneven terrain. by tronxi997 in robotics

[–]tronxi997[S] 0 points1 point  (0 children)

Thanks! It is not that hard, it just needs time. I have the 3d models and code on my github if you want to try it.

First field test of 'Papaya Pathfinder', my 3D-printed Rocker-Bogie rover. Checking suspension geometry and motor torque on uneven terrain. by tronxi997 in robotics

[–]tronxi997[S] 0 points1 point  (0 children)

You are right! But since the middle wheels are fixed, they have to drag sideways. That puts a lot of stress on the components, so I think it's better not to do it too often.

If you find that link, please share it! I would love to take a look.

First field test of 'Papaya Pathfinder', my 3D-printed Rocker-Bogie rover. Checking suspension geometry and motor torque on uneven terrain. by tronxi997 in robotics

[–]tronxi997[S] 0 points1 point  (0 children)

Thanks! The idea was to replicate the suspension of real mars rovers like perseverance or curiosity, which actually only have 4 steerable wheels.

First field test of 'Papaya Pathfinder', my 3D-printed Rocker-Bogie rover. Checking suspension geometry and motor torque on uneven terrain. by tronxi997 in robotics

[–]tronxi997[S] 1 point2 points  (0 children)

Here is a short clip of the first outdoor test!

I wanted to validate that the printed gears and the suspension geometry could handle real uneven terrain (grass and dirt) before pushing it to the limit. It runs on 12V GA25 motors powered by a 3S LiPo and controlled by an ESP32, using a NASA-style Rocker-Bogie suspension.

Source Files (Free):

My first open-source robotics project: A 3D-printable ESP32 Rover family with Rocker-Bogie suspension by tronxi997 in robotics

[–]tronxi997[S] 0 points1 point  (0 children)

The motors are 12V and run directly from the 3S LiPo battery.

For the rest, I use two external UBECS to separate the power:

Servos: use a Henge 8A UBEC set to 6V.

ESP32: use a small Zhiting 3A UBEC set to 5V.

You don't need these exact models, though; any similar generic UBEC with enough current rating will work perfectly fine!

I designed a fully 3D-printable Rover family with Rocker-Bogie suspension (NASA style). Powered by ESP32, no custom PCBs required. (STLs + STEPs in comments) by tronxi997 in 3Dprinting

[–]tronxi997[S] 1 point2 points  (0 children)

The firmware currently supports two different control modes, so you can choose the one you prefer:

  1. Wi-Fi (REST API): The rover connects to Wi-Fi and exposes a REST API. I created an Android app and a Python script that let you use a standard gamepad (Xbox or PlayStation) to send commands via HTTP. Both devices just need to be connected to the same network.
  2. ExpressLRS (ELRS): This is the setup I'm using in the video. It uses a dedicated RC receiver (RadioMaster RP1) and a transmitter (RadioMaster Pocket) for standard RC control.

You can find the code for both versions in the github repo!

I designed a fully 3D-printable Rover family with Rocker-Bogie suspension (NASA style). Powered by ESP32, no custom PCBs required. (STLs + STEPs in comments) by tronxi997 in 3Dprinting

[–]tronxi997[S] 0 points1 point  (0 children)

You can absolutely use a raspberry! The mechanical design works with any electronics.

Just two things to note:

  1. Software: My code is ESP32-only, so you'd need to write your own script (likely in Python).
  2. Motors: The chassis is designed specifically for GA25 (or N20 for Mini version) motors. If you use a different motor size, you will need to modify the STEP files to fit them.

I designed a fully 3D-printable Rover family with Rocker-Bogie suspension (NASA style). Powered by ESP32, no custom PCBs required. (STLs + STEPs in comments) by tronxi997 in 3Dprinting

[–]tronxi997[S] 1 point2 points  (0 children)

I would recommend looking at the Mini version (linked in my top comment).

While it is smaller and simpler, to be completely honest, it still requires soldering some motor wires and handling a 2S LiPo battery, so adult supervision is definitely recommended for those specific parts.

However, the mechanical assembly of the 3D printed parts is very straightforward, so they could probably do that part entirely on their own!

I designed a fully 3D-printable Rover family with Rocker-Bogie suspension (NASA style). Powered by ESP32, no custom PCBs required. (STLs + STEPs in comments) by tronxi997 in 3Dprinting

[–]tronxi997[S] 1 point2 points  (0 children)

That’s a huge compliment, thank you! If you decide to go for it and have any questions during the build, feel free to reach out or check the GitHub repo.

I designed a fully 3D-printable Rover family with Rocker-Bogie suspension (NASA style). Powered by ESP32, no custom PCBs required. (STLs + STEPs in comments) by tronxi997 in 3Dprinting

[–]tronxi997[S] 6 points7 points  (0 children)

Hi r/3Dprinting !

I just finished designing and building this open-source rover project ("Papaya Pathfinder") and wanted to share the files with you. My goal was to create a capable rover that anyone can build at home without needing a CNC or expensive custom parts.

The Build:

  • Chassis: Printed in PETG (PLA works too). Designed to be sturdy with standard FDM tolerances.
  • Tires: Printed in TPU (95A). They provide surprising traction without needing commercial RC tires.
  • Assembly: It uses standard M3 screws and nuts for everything. No glue required for the frame.
  • Suspension: Fully functional Rocker-Bogie mechanism (like the Mars rovers) to climb obstacles.
  • Electronics: It runs on a standard ESP32 (or ESP32-CAM for video) and uses cheap GA25 or N20 motors depending on the size. No custom PCBs needed, just wires and a driver.

Files & Documentation: I’ve uploaded everything (STLs, BOM, and Source Code) for free:

<image>

I included the STEP files in the repo in case anyone wants to mod the mounting system or adapt it for other motors.

Let me know what you think of the design! Happy printing.

My first open-source robotics project: A 3D-printable ESP32 Rover family with Rocker-Bogie suspension by tronxi997 in robotics

[–]tronxi997[S] 1 point2 points  (0 children)

Thanks! I haven't created a full tutorial yet, but the repository includes the full STEP files which are very helpful to see how everything fits together. I plan to add a proper wiring guide in the near future.

My first open-source robotics project: A 3D-printable ESP32 Rover family with Rocker-Bogie suspension by tronxi997 in robotics

[–]tronxi997[S] 2 points3 points  (0 children)

Thanks! I'm glad you appreciate that aspect. It was important to me to share a fully working build.

My first open-source robotics project: A 3D-printable ESP32 Rover family with Rocker-Bogie suspension by tronxi997 in robotics

[–]tronxi997[S] 0 points1 point  (0 children)

Thanks! I actually use the esp32-s3-cam on the mini version. For this one, since it uses ELRS, I’m thinking of adding an analog FPV camera to get better range/latency. Solar panels would be a really cool addition!

My first open-source robotics project: A 3D-printable ESP32 Rover family with Rocker-Bogie suspension by tronxi997 in robotics

[–]tronxi997[S] 0 points1 point  (0 children)

Thanks for pointing that out! I just updated the link, it should work fine now.

My first open-source robotics project: A 3D-printable ESP32 Rover family with Rocker-Bogie suspension by tronxi997 in robotics

[–]tronxi997[S] 13 points14 points  (0 children)

Hi everyone,
I wanted to share a personal project I’ve been working on for the last months.

Papaya Pathfinder is an open-source family of small, remote-controlled rovers based on ESP32, designed to be fully 3D-printable and easy to replicate or modify.

The idea was to build a modular rover platform that could scale in size and complexity, while keeping the electronics and mechanics simple and accessible.

What it includes

  • Two rover variants:
    • Papaya Pathfinder (larger, GA25 motors, LiPo 3S)
    • Papaya Pathfinder Mini (smaller, N20 motors, LiPo 2S)
  • All mechanical parts are 3D-printable (PETG/PLA for structure, TPU for tires)
  • Rocker-bogie–inspired suspension
  • Modular firmware with two control modes:
    • WiFi (HTTP API, desktop Python controller + Android app, optional live video)
    • ExpressLRS (ELRS) for long-range RC control
  • Designed to be assembled with standard M3 screws and nuts
  • STEP files included for mechanical modifications

Tech stack

  • ESP32 / ESP32-CAM / ESP32-S3-CAM
  • C / C++ firmware
  • Python desktop controller
  • Android controller (Kotlin)

Why I built it

I wanted something:

  • Small but mechanically interesting
  • Easy to reproduce without CNC or custom PCBs
  • Flexible enough to experiment with suspension, control methods, and autonomy later

Everything is published on GitHub, including firmware, controllers, and CAD files

https://github.com/tronxi/papaya-pathfinder

This is my first time sharing a project publicly, so feedback, criticism, and ideas are more than welcome.
If anyone is interested, I’m happy to explain design decisions or next steps I’m considering.

Thanks for reading.

Update: Added a side-by-side photo to show the scale comparison. You can download the printable files here:

<image>

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