FreeCAD – Part 7: Feet & Wheels

In this lesson, we complete the lower half of the Millie Mini AI robot by finishing the details on the lower shelf and bottom shelf, then adding the feet and wheel components that define how the robot contacts the ground.

This lesson focuses on finalizing the robot’s base structure, completing all remaining lower-frame geometry, and preparing the robot for future mobility and motion systems.

Lower Shelf & Bottom Shelf Completion

We begin by completing the remaining details on the lower shelf and bottom shelf.

This lesson demonstrates how engineers finalize foundational structures before moving on to upper assemblies and functional subsystems.

The goal here is to ensure the bottom half of the robot is fully defined, cleanly organized, and structurally sound.

Completing the Lower Structural Details

Before adding feet and wheels, we finalize all remaining geometry on the lower shelves.

In this lesson, we:

Finish detailing the lower shelf
Complete the bottom shelf geometry
Verify alignment between stacked components
Confirm clean part relationships within the assembly

This ensures the robot’s frame is complete and consistent from the ground up.

Adding the Feet

Once the lower shelves are complete, we add the feet that establish ground contact.

In this lesson, we:

Design the robot’s feet
Position them relative to the bottom structure
Ensure proper spacing and alignment
Prepare mounting locations for wheels

The feet define how the robot sits, balances, and transfers load to the ground.

Adding the Wheels

With the feet in place, we add the wheel components that will support future mobility systems.

In this lesson, we:

Add wheel geometry
Position wheels relative to the feet
Maintain symmetry and alignment
Prepare the base for movement-related components

This step completes the robot’s physical foundation.

Result So Far

By the end of this lesson, you will have:

Completed the lower shelf details
Finished the bottom shelf geometry
Added the robot’s feet
Added and positioned the wheels
Fully completed the bottom half of the robot

At this stage, the Millie Mini AI robot now has a fully defined base structure ready to support the rest of the system.

What’s Next

In the next lesson, we’ll move upward and begin working on the upper structure details at the neck.

We’ll:

Refine upper shelf details
Add geometry that connects into the neck area
Continue using clean, reference-based workflows

This is where the Millie Mini AI robot transitions from a completed base into a more integrated full-body system.