Imager camera and TOF sensor
The Imager, that is to say, the top part (or head) of the Mast Tower is the key that justifies the existence of the tower itself: elevating the main rover camera, giving it rotation freedom in all directions. At its current state, Continuity's Imager is equipped with a 1080p camera and a couple of 10120 TOF sensors. A TOF (Time of Flight) is a sensor commonly used on drones due to its extremely low weight. It allows the rover to estimate in real-time the distance between the sensor and an object counting the time light takes to go back and forth from it. Since its precision is not always ensured, I installed a couple of them for redundancy and to get an average of their measurements, obtaining a more reliable value. There is still plenty of space inside the Imager, but this is fine because this will not be its final look, and many parts still need to be improved: for instance, the height of the Mast Tower, which risks being too high compared to the rover centre of mass.
Mast Tower base: 3D printed multiplier gearbox
The mast tower is a crucial element of Continuity: it is a tower-shaped component that elevates key camera systems and sensors, giving the rover a human-scale perspective on its environment. Because I decided to use only servo motors, where possible, I had to find a way to increase the rotation range of the motor. The servos I'm using are 25 Kg full-metal motors with a rotation range of 180°, meaning that they cannot be used directly for the azimuth rotation (along the z-axis). I decided to 3D print a 1:2 (2x) multiplier gearbox. You can see it in the LHS photo below. The design is probably not the best because the gears are very thick and not space-saving. I still decided to give them a chance, so I designed a holder for a bearing and an enclosure to keep everything tight and reduce vibrations. Now, when I rotate the servo by 180°, I get a 360° rotation. There is still an evident issue: 3D-printed gears are not 100% accurate, and backlash is not something I can ignore.
