https://wiki.robojackets.org/api.php?action=feedcontributions&feedformat=atom&user=EJonesRoboJackets Wiki - User contributions [en]2026-04-28T02:08:29ZUser contributionsMediaWiki 1.32.0https://wiki.robojackets.org/index.php?title=RC15DriveModule&diff=14086RC15DriveModule2015-03-04T00:53:48Z<p>EJones: </p>
<hr />
<div>The drive module consists of 3 integral components:<br />
<br />
1) A drivetrain plate/mount<br />
<br />
2) Motor<br />
<br />
3) Omnidirectional wheel (omni wheel)<br />
<br />
== Background ==<br />
<br />
The 2008 fleet of robots utilize a bull and pinion gear to transmit power to the omnidirectional wheels. Because of this arrangement<br />
<br />
Pros:<br />
<br />
Cons:<br />
<br />
The 2011 fleet of robots utilize an internal ring gear and a spur gear to transmit power to the omnidirectional wheels. A standoff was also welded onto the drive module<br />
<br />
Pros:<br />
<br />
Cons:<br />
<br />
== Requirements ==<br />
<br />
== Prototypes ==<br />
<br />
When performing injection molding, it is important to scale your CAD appropriately such that the shrink rate of the plastic is accounted for. Doing this will mean that the volume of the cavity of the mold will be larger than that of the desired component in CAD - however, once the part is molded and cools, it will ideally shrink to the correct size.<br />
<br />
Thus, the team&nbsp;milled a test mold for the injection molding machine. This mold had a cavity about 1/8" deep, and was approximately 3" x 2", roughly the surface area of a credit card. This mold was used to mold a part and measure the shrink rate by simply looking at the percentage difference of the plastic part compared to the milled mold. Numbers are below:<br />
<br />
Cavity width: 1.935"<br />
<br />
Plastic part width: 1.871"<br />
<br />
Estimated shrink rate: 3.3%<br />
<br />
<br />
<br />
Plastic Processing Information:<br />
<br />
From&nbsp;http://www.tangram.co.uk/TI-Polymer-POM.html:<br />
<br />
<font face="Arial">'''Injection moulding'''</font><br />
<br />
Pre-drying is not necessary but can be carried out at 110<font face="Arial" size="2"><sup>o</sup></font>C for 2 hours if the material has become moist or if the uniformity of the material needs to be improved<font face="Arial" size="2">.</font><br />
<br />
Injection pressures of 1200 to 1500 bar are used depending on the viscosity of the melt, the flow to wall thickness ratio and the type of sprue. Processing temperature is 180 to 220<font face="Arial" size="2"><sup>o</sup></font>C and up to 230<font face="Arial" size="2"><sup>o</sup></font>C in the event of deep flow and thin walls. The best processing temperature is around 205<font face="Arial" size="2"><sup>o</sup></font>C<font face="Arial" size="2">.</font>&nbsp;Thermal damage may occur above 230<font face="Arial" size="2"><sup>o</sup></font>C unless the residence time in the cylinder is kept short.<br />
<br />
At a mould temperature of 120<font face="Arial" size="2"><sup>o</sup></font>C the mouldings are tougher and have greater rigidity and the general range is 50 to 120<font face="Arial" size="2"><sup>o</sup></font>C. The material is partially crystalline thermoplastics and the mechanical properties are determined by the degree of crystallisation which increases with the mould temperature. Mould tempering is important in the production of high surface quality parts with low distortion and care needs to be taken in this area. Mouldings produced at 90<font face="Arial" size="2"><sup>o</sup></font>C have less post-shrinkage than mouldings produced at lower temperatures<font face="Arial" size="2">.&nbsp;</font>Mould shrinkage is about 2% but is greatly dependent on the processing conditions. The glass fibre reinforced materials types have lower shrinkage but distortion can occur if the shrinkage is not uniform. Moulded parts with a high accuracy in gauge or parts used at high temperatures can be tempered for 24 hours at 110 to 140<font face="Arial" size="2"><sup>o</sup></font>C in order to allow for post-shrinkage.<br />
<br />
As with all crystalline polymers the follow-up pressure can be influential on the shrinkage of the part and a longer hold time is preferred to reduce shrinkage.<br />
<br />
High thermal stress during processing will result in the formation of formaldehyde.<br />
<br />
=== Rationale ===<br />
<br />
=== Analysis/Performance ===<br />
<br />
Prototype Notes:</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=14085RoboCup Mechanical 20152015-03-04T00:52:41Z<p>EJones: </p>
<hr />
<div></div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15DriveModule&diff=14083RC15DriveModule2015-03-04T00:52:17Z<p>EJones: EJones moved page RC14DriveModule to RC15DriveModule</p>
<hr />
<div>The drive module consists of 3 integral components:<br />
<br />
1) A drivetrain plate/mount<br />
<br />
2) Motor<br />
<br />
3) Omnidirectional wheel (omni wheel)<br />
<br />
== Background ==<br />
<br />
The 2008 fleet of robots utilize a bull and pinion gear to transmit power to the omnidirectional wheels. Because of this arrangement<br />
<br />
Pros:<br />
<br />
Cons:<br />
<br />
The 2011 fleet of robots utilize an internal ring gear and a spur gear to transmit power to the omnidirectional wheels. A standoff was also welded onto the drive module<br />
<br />
Pros:<br />
<br />
Cons:<br />
<br />
== Requirements ==<br />
<br />
== Prototypes ==<br />
<br />
When performing injection molding, it is important to scale your CAD appropriately such that the shrink rate of the plastic is accounted for. Doing this will mean that the volume of the cavity of the mold will be larger than that of the desired component in CAD - however, once the part is molded and cools, it will ideally shrink to the correct size.<br />
<br />
Thus, the team&nbsp;milled a test mold for the injection molding machine. This mold had a cavity about 1/8" deep, and was approximately 3" x 2", roughly the surface area of a credit card. This mold was used to mold a part and measure the shrink rate by simply looking at the percentage difference of the plastic part compared to the milled mold. Numbers are below:<br />
<br />
Cavity width: 1.935"<br />
<br />
Plastic part width: 1.871"<br />
<br />
Estimated shrink rate: 3.3%<br />
<br />
=== Rationale ===<br />
<br />
=== Analysis/Performance ===<br />
<br />
Prototype Notes:</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC14DriveModule&diff=14084RC14DriveModule2015-03-04T00:52:17Z<p>EJones: EJones moved page RC14DriveModule to RC15DriveModule</p>
<hr />
<div>#REDIRECT [[RC15DriveModule]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15DriveModule&diff=14082RC15DriveModule2015-03-04T00:50:28Z<p>EJones: </p>
<hr />
<div>The drive module consists of 3 integral components:<br />
<br />
1) A drivetrain plate/mount<br />
<br />
2) Motor<br />
<br />
3) Omnidirectional wheel (omni wheel)<br />
<br />
== Background ==<br />
<br />
The 2008 fleet of robots utilize a bull and pinion gear to transmit power to the omnidirectional wheels. Because of this arrangement<br />
<br />
Pros:<br />
<br />
Cons:<br />
<br />
The 2011 fleet of robots utilize an internal ring gear and a spur gear to transmit power to the omnidirectional wheels. A standoff was also welded onto the drive module<br />
<br />
Pros:<br />
<br />
Cons:<br />
<br />
== Requirements ==<br />
<br />
== Prototypes ==<br />
<br />
When performing injection molding, it is important to scale your CAD appropriately such that the shrink rate of the plastic is accounted for. Doing this will mean that the volume of the cavity of the mold will be larger than that of the desired component in CAD - however, once the part is molded and cools, it will ideally shrink to the correct size.<br />
<br />
Thus, the team&nbsp;milled a test mold for the injection molding machine. This mold had a cavity about 1/8" deep, and was approximately 3" x 2", roughly the surface area of a credit card. This mold was used to mold a part and measure the shrink rate by simply looking at the percentage difference of the plastic part compared to the milled mold. Numbers are below:<br />
<br />
Cavity width: 1.935"<br />
<br />
Plastic part width: 1.871"<br />
<br />
Estimated shrink rate: 3.3%<br />
<br />
=== Rationale ===<br />
<br />
=== Analysis/Performance ===<br />
<br />
Prototype Notes:</div>EJoneshttps://wiki.robojackets.org/index.php?title=IGVC_Mechanical_2015&diff=14024IGVC Mechanical 20152015-02-08T02:49:38Z<p>EJones: </p>
<hr />
<div>This page houses the information for IGVC Mechanical build for the 2015 competition year. Below are details pertaining to the team's design for the 2015 year, and the motivation behind all engineering decisions.<br />
<br />
== Background ==<br />
<br />
=== Current Robot ===<br />
<br />
<font size="2">The team has taken part in IGVC for many years. Generally the mechanical base is a rugged design intended to serve as a platform for offroad autonomous navigation, In recent years, the vehicles generally exhibit 4 wheel drive with significant emphasis on suspension and power transmission.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">The primary&nbsp;robot&nbsp;used in the 2013 and 2014 competition was a 4 wheel drive vehicle that utilized chains and sprockets to transmit power. Due to the suspension setup and the weight of the robot, there was significant misalignment with the interior and exterior sprockets, causing the chain to derail. Efforts in 2014 to improve this design proved to be insufficient.</font><br />
<br />
<font size="2">Additionally, these robots utilized skid-steer/differential drive, which works very well in the terrain encountered in competition, but presents odometry problems that needlessly complicate the efforts of the software development team. It is also not uncommon for inclement weather to occur during the competition, which further complicates the odometry issues.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">The primary goals of the 2015 build season are to rebuild the drivetrain such that it is robust,&nbsp;while making drivetrain changes to also improve the odometry of the system.</font><br />
<br />
== <span style="line-height: 20.7999992370605px;">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px;">The team for the 2015 competition year has met several times to discuss the primary goals for the system rebuild. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Eliminate chain and sprocket design and replace with a more reliable design given our suspension setup.</li><br />
<li>Maintain the use of our wheel decoupling mechanism</li><br />
<li>Eliminate skid-steer/differential drive&nbsp;design</li><br />
<li>Improve weatherproofing</li><br />
<li>Add a newer, more low-profile LIDAR.</li><br />
<li>Hot-swap batteries/recharging circuit</li><br />
</ol><br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Make a more compact, lightweight gearbox</li><br />
<li>Improve vehicle aesthetics</li><br />
</ol><br />
<br />
== Specifications ==<br />
<ul style="line-height: 20.7999992370605px;"><br />
<li>Robot dimensions should not exceed AA x BB x CC inches for competition</li><br />
<li>Robot dimensions should not exceed DD inches in width for ease of transportation through common door thresholds</li><br />
<li>Robot dimensions should not exceed EE inches in height for ease of transportation in our trailer.</li><br />
<li>E-stop should be located at FF inches from the ground</li><br />
<li>E-stop to be located at approximately GG inches from the ground for safety purposes while testing (RoboJackets criteria)</li><br />
<li>Mechanical chassis to exhibit rounded corners for safety purposes</li><br />
</ul><br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/IGVC15-Components System Components and Bill of Materials]<br />
<br />
=== Chassis ===<br />
<br />
=== Drivetrain ===<br />
<br />
=== Suspension ===<br />
<br />
=== Mast ===<br />
<br />
=== Weatherproofing ===<br />
<br />
== Current Mechanical Tasks ==<br />
<br />
For progress timelines see our [[IGVC 2015 Meeting Notes|meeting notes]]<br />
<br />
Caster Wheel:<br />
<br />
*<s>Press out bearing cups</s>&nbsp;<br />
*<s>Press bearing into new wheels&nbsp;</s><br />
*Determine need for spacer between rim and bearing plates&nbsp;<br />
**<s>Design spacer if necessary</s><br />
**<s>Fabricate Spacer</s><br />
**Remove tabs and install spacers<br />
*Wirebrush steel sides&nbsp;<br />
**coat with WD-40/lubricant to avoid rust<br />
*Cut steel for turntable mount<br />
*Prep for welding<br />
**Training<br />
*machine axle<br />
<br />
Suspension:<br />
<br />
*Confirm control arm mounting points and shock absorber bracket<br />
*Design physical support for brackets<br />
*Machine control arms and brackets<br />
<br />
Drivetrain:<br />
<br />
*Generate BOM<br />
*Place order<br />
*Generate G-Code<br />
*Machine Gearboxes<br />
*Verify and machine decoupled axle<br />
*<s>Add retaining ring grooves to worm axle cad</s><br />
*Machine worm axle<br />
*Waterjet uprights<br />
<br />
== Development ==<br />
<br />
;[http://wiki.robojackets.org/mediawiki/Autodesk Inventor Autodesk Inventor]&nbsp;<br />
:We model our robot in Autodesk Inventor, and perform FEA with the inbuilt stress analysis tools.<br />
<br />
== Structure ==<br />
<br />
Our robot frame consists of primarily 1" steel tubing that has been custom designed and welded in-house. Steel tubing is chosen largely for its rigidity, with design emphasis on ruggedness and high payload capabilities, similar to that seen in military environments. The frame provides partitions for electronics, motors and sensors.<br />
<br />
== Suspension ==<br />
<br />
Much emphasis has been placed into the design of the robot's suspension. The primary objectives of off-road capability and vibration damping (for sensors) have been achieved by allowing for independent suspension for the rear wheels. The robot sports 3&nbsp;ATV wheels and heavy-duty shock absorbers, allowing it to traverse rough terrains at high speeds while damping residual and transient vibrations to the sensors and giving each wheel up to 5 inches of vertical travel.<br />
<br />
== Drivetrain ==<br />
<br />
The vehicle utilizes caster wheel&nbsp;mechanics by with each of the two rear wheels being powered by a motor through a gearbox with a reduction of 30 to 1. The two 4.5 HP Ampflow motors ensure&nbsp;that the robot will not get bogged down in muddy or rocky terrain. Additionally, this allows for a top speed upwards of 20 MPH to be achieved.<br />
<br />
== Weatherproofing ==<br />
<br />
Heavy emphasis is placed on making the robot resistant to weather. The custom-machined gearboxes are sealed shut and snap-on body panels cover the entirety of the robot to keep water from directly seeping in. Additionally, water run-off flaps are attached to all sides of the body panels. Splash guards are also employed to keep water and debris thrown from the wheels from entering the region with the motor controllers and other electronics.<br />
<br />
The button panel and electronics mounted on the mast also reside in weather resistant enclosures.<br />
<br />
== Other things ==<br />
<br />
The robots sports a variety of features that make it easy to maintain and operate. The body panels are easily removed via thumbscrews from any location, providing easy access to anywhere on the robot.<br />
<br />
Emphasis is also being placed on ensuring ease of testing and transportation of the robot. Basic design parameters have been adhered to, such as making the width of the vehicle fits through a standard doorway and making vehicle such that the overall height fits with the transportation trailer.</div>EJoneshttps://wiki.robojackets.org/index.php?title=IGVC_Mechanical_2015&diff=14023IGVC Mechanical 20152015-02-08T02:47:51Z<p>EJones: </p>
<hr />
<div>== Background ==<br />
<br />
=== Current Robot ===<br />
<br />
<font size="2">The team has taken part in IGVC for many years. Generally the mechanical base is a rugged design intended to serve as a platform for offroad autonomous navigation, In recent years, the vehicles generally exhibit 4 wheel drive with significant emphasis on suspension and power transmission.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">The primary&nbsp;robot&nbsp;used in the 2013 and 2014 competition was a 4 wheel drive vehicle that utilized chains and sprockets to transmit power. Due to the suspension setup and the weight of the robot, there was significant misalignment with the interior and exterior sprockets, causing the chain to derail. Efforts in 2014 to improve this design proved to be insufficient.</font><br />
<br />
<font size="2">Additionally, these robots utilized skid-steer/differential drive, which works very well in the terrain encountered in competition, but presents odometry problems that needlessly complicate the efforts of the software development team. It is also not uncommon for inclement weather to occur during the competition, which further complicates the odometry issues.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">The primary goals of the 2015 build season are to rebuild the drivetrain such that it is robust,&nbsp;while making drivetrain changes to also improve the odometry of the system.</font><br />
<br />
== <span style="line-height: 20.7999992370605px;">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px;">The team for the 2015 competition year has met several times to discuss the primary goals for the system rebuild. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Eliminate chain and sprocket design and replace with a more reliable design given our suspension setup.</li><br />
<li>Maintain the use of our wheel decoupling mechanism</li><br />
<li>Eliminate skid-steer/differential drive&nbsp;design</li><br />
<li>Improve weatherproofing</li><br />
<li>Add a newer, more low-profile LIDAR.</li><br />
<li>Hot-swap batteries/recharging circuit</li><br />
</ol><br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Make a more compact, lightweight gearbox</li><br />
<li>Improve vehicle aesthetics</li><br />
</ol><br />
<br />
== Specifications ==<br />
<ul style="line-height: 20.7999992370605px;"><br />
<li>Robot dimensions should not exceed AA x BB x CC inches for competition</li><br />
<li>Robot dimensions should not exceed DD inches in width for ease of transportation through common door thresholds</li><br />
<li>Robot dimensions should not exceed EE inches in height for ease of transportation in our trailer.</li><br />
<li>E-stop should be located at FF inches from the ground</li><br />
<li>E-stop to be located at approximately GG inches from the ground for safety purposes while testing (RoboJackets criteria)</li><br />
<li>Mechanical chassis to exhibit rounded corners for safety purposes</li><br />
</ul><br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/IGVC15-Components System Components and Bill of Materials]<br />
<br />
=== Chassis ===<br />
<br />
=== Drivetrain ===<br />
<br />
=== Suspension ===<br />
<br />
=== Mast ===<br />
<br />
=== Weatherproofing ===<br />
<br />
== Current Mechanical Tasks ==<br />
<br />
For progress timelines see our [[IGVC 2015 Meeting Notes|meeting notes]]<br />
<br />
Caster Wheel:<br />
<br />
*<s>Press out bearing cups</s>&nbsp;<br />
*<s>Press bearing into new wheels&nbsp;</s><br />
*Determine need for spacer between rim and bearing plates&nbsp;<br />
**<s>Design spacer if necessary</s><br />
**<s>Fabricate Spacer</s><br />
**Remove tabs and install spacers<br />
*Wirebrush steel sides&nbsp;<br />
**coat with WD-40/lubricant to avoid rust<br />
*Cut steel for turntable mount<br />
*Prep for welding<br />
**Training<br />
*machine axle<br />
<br />
Suspension:<br />
<br />
*Confirm control arm mounting points and shock absorber bracket<br />
*Design physical support for brackets<br />
*Machine control arms and brackets<br />
<br />
Drivetrain:<br />
<br />
*Generate BOM<br />
*Place order<br />
*Generate G-Code<br />
*Machine Gearboxes<br />
*Verify and machine decoupled axle<br />
*<s>Add retaining ring grooves to worm axle cad</s><br />
*Machine worm axle<br />
*Waterjet uprights<br />
<br />
== Development ==<br />
<br />
;[http://wiki.robojackets.org/mediawiki/Autodesk Inventor Autodesk Inventor]&nbsp;<br />
:We model our robot in Autodesk Inventor, and perform FEA with the inbuilt stress analysis tools.<br />
<br />
== Structure ==<br />
<br />
Our robot frame consists of primarily 1" steel tubing that has been custom designed and welded in-house. Steel tubing is chosen largely for its rigidity, with design emphasis on ruggedness and high payload capabilities, similar to that seen in military environments. The frame provides partitions for electronics, motors and sensors.<br />
<br />
== Suspension ==<br />
<br />
Much emphasis has been placed into the design of the robot's suspension. The primary objectives of off-road capability and vibration damping (for sensors) have been achieved by allowing for independent suspension for the rear wheels. The robot sports 3&nbsp;ATV wheels and heavy-duty shock absorbers, allowing it to traverse rough terrains at high speeds while damping residual and transient vibrations to the sensors and giving each wheel up to 5 inches of vertical travel.<br />
<br />
== Drivetrain ==<br />
<br />
The vehicle utilizes caster wheel&nbsp;mechanics by with each of the two rear wheels being powered by a motor through a gearbox with a reduction of 30 to 1. The two 4.5 HP Ampflow motors ensure&nbsp;that the robot will not get bogged down in muddy or rocky terrain. Additionally, this allows for a top speed upwards of 20 MPH to be achieved.<br />
<br />
== Weatherproofing ==<br />
<br />
Heavy emphasis is placed on making the robot resistant to weather. The custom-machined gearboxes are sealed shut and snap-on body panels cover the entirety of the robot to keep water from directly seeping in. Additionally, water run-off flaps are attached to all sides of the body panels. Splash guards are also employed to keep water and debris thrown from the wheels from entering the region with the motor controllers and other electronics.<br />
<br />
The button panel and electronics mounted on the mast also reside in weather resistant enclosures.<br />
<br />
== Other things ==<br />
<br />
The robots sports a variety of features that make it easy to maintain and operate. The body panels are easily removed via thumbscrews from any location, providing easy access to anywhere on the robot.<br />
<br />
Emphasis is also being placed on ensuring ease of testing and transportation of the robot. Basic design parameters have been adhered to, such as making the width of the vehicle fits through a standard doorway and making vehicle such that the overall height fits with the transportation trailer.</div>EJoneshttps://wiki.robojackets.org/index.php?title=IGVC_Mechanical_2015&diff=14022IGVC Mechanical 20152015-02-08T02:47:17Z<p>EJones: </p>
<hr />
<div>== Background ==<br />
<br />
=== Current Robot ===<br />
<br />
<font size="2">The team has taken part in IGVC for many years. Generally the mechanical base is a rugged design intended to serve as a platform for offroad autonomous navigation, In recent years, the vehicles generally exhibit 4 wheel drive with significant emphasis on suspension and power transmission.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">The primary&nbsp;robot&nbsp;used in the 2013 and 2014 competition was a 4 wheel drive vehicle that utilized chains and sprockets to transmit power. Due to the suspension setup and the weight of the robot, there was significant misalignment with the interior and exterior sprockets, causing the chain to derail. Efforts in 2014 to improve this design proved to be insufficient.</font><br />
<br />
<font size="2">Additionally, these robots utilized skid-steer/differential drive, which works very well in the terrain encountered in competition, but presents odometry problems that needlessly complicate the efforts of the software development team. It is also not uncommon for inclement weather to occur during the competition, which further complicates the odometry issues.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">The primary goals of the 2015 build season are to rebuild the drivetrain such that it is robust,&nbsp;while making drivetrain changes to also improve the odometry of the system.</font><br />
<br />
== <span style="line-height: 20.7999992370605px;">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px;">The team for the 2015 competition year has met several times to discuss the primary goals for the system rebuild. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Eliminate chain and sprocket design and replace with a more reliable design given our suspension setup.</li><br />
<li>Maintain the use of our wheel decoupling mechanism</li><br />
<li>Eliminate skid-steer/differential drive&nbsp;design</li><br />
<li>Improve weatherproofing</li><br />
<li>Add a newer, more low-profile LIDAR.</li><br />
<li>Hot-swap batteries/recharging circuit</li><br />
</ol><br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Make a more compact, lightweight gearbox</li><br />
<li>Improve vehicle aesthetics</li><br />
</ol><br />
<br />
== Specifications ==<br />
<ul style="line-height: 20.7999992370605px;"><br />
<li>Robot dimensions should not exceed AA x BB x CC inches for competition</li><br />
<li>Robot dimensions should not exceed DD inches in width for ease of transportation through common door thresholds</li><br />
<li>Robot dimensions should not exceed EE inches in height for ease of transportation in our trailer.</li><br />
<li>E-stop should be located at FF inches from the ground</li><br />
<li>E-stop to be located at approximately GG inches from the ground for safety purposes while testing (RoboJackets criteria)</li><br />
<li>Mechanical chassis to exhibit rounded corners for safety purposes</li><br />
</ul><br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Chassis ===<br />
<br />
=== Drivetrain ===<br />
<br />
=== Suspension ===<br />
<br />
=== Mast ===<br />
<br />
=== Weatherproofing ===<br />
<br />
== Current Mechanical Tasks ==<br />
<br />
For progress timelines see our [[IGVC 2015 Meeting Notes|meeting notes]]<br />
<br />
Caster Wheel:<br />
<br />
*<s>Press out bearing cups</s>&nbsp;<br />
*<s>Press bearing into new wheels&nbsp;</s><br />
*Determine need for spacer between rim and bearing plates&nbsp;<br />
**<s>Design spacer if necessary</s><br />
**<s>Fabricate Spacer</s><br />
**Remove tabs and install spacers<br />
*Wirebrush steel sides&nbsp;<br />
**coat with WD-40/lubricant to avoid rust<br />
*Cut steel for turntable mount<br />
*Prep for welding<br />
**Training<br />
*machine axle<br />
<br />
Suspension:<br />
<br />
*Confirm control arm mounting points and shock absorber bracket<br />
*Design physical support for brackets<br />
*Machine control arms and brackets<br />
<br />
Drivetrain:<br />
<br />
*Generate BOM<br />
*Place order<br />
*Generate G-Code<br />
*Machine Gearboxes<br />
*Verify and machine decoupled axle<br />
*<s>Add retaining ring grooves to worm axle cad</s><br />
*Machine worm axle<br />
*Waterjet uprights<br />
<br />
== Development ==<br />
<br />
;[http://wiki.robojackets.org/mediawiki/Autodesk Inventor Autodesk Inventor]&nbsp;<br />
:We model our robot in Autodesk Inventor, and perform FEA with the inbuilt stress analysis tools.<br />
<br />
== Structure ==<br />
<br />
Our robot frame consists of primarily 1" steel tubing that has been custom designed and welded in-house. Steel tubing is chosen largely for its rigidity, with design emphasis on ruggedness and high payload capabilities, similar to that seen in military environments. The frame provides partitions for electronics, motors and sensors.<br />
<br />
== Suspension ==<br />
<br />
Much emphasis has been placed into the design of the robot's suspension. The primary objectives of off-road capability and vibration damping (for sensors) have been achieved by allowing for independent suspension for the rear wheels. The robot sports 3&nbsp;ATV wheels and heavy-duty shock absorbers, allowing it to traverse rough terrains at high speeds while damping residual and transient vibrations to the sensors and giving each wheel up to 5 inches of vertical travel.<br />
<br />
== Drivetrain ==<br />
<br />
The vehicle utilizes caster wheel&nbsp;mechanics by with each of the two rear wheels being powered by a motor through a gearbox with a reduction of 30 to 1. The two 4.5 HP Ampflow motors ensure&nbsp;that the robot will not get bogged down in muddy or rocky terrain. Additionally, this allows for a top speed upwards of 20 MPH to be achieved.<br />
<br />
== Weatherproofing ==<br />
<br />
Heavy emphasis is placed on making the robot resistant to weather. The custom-machined gearboxes are sealed shut and snap-on body panels cover the entirety of the robot to keep water from directly seeping in. Additionally, water run-off flaps are attached to all sides of the body panels. Splash guards are also employed to keep water and debris thrown from the wheels from entering the region with the motor controllers and other electronics.<br />
<br />
The button panel and electronics mounted on the mast also reside in weather resistant enclosures.<br />
<br />
== Other things ==<br />
<br />
The robots sports a variety of features that make it easy to maintain and operate. The body panels are easily removed via thumbscrews from any location, providing easy access to anywhere on the robot.<br />
<br />
Emphasis is also being placed on ensuring ease of testing and transportation of the robot. Basic design parameters have been adhered to, such as making the width of the vehicle fits through a standard doorway and making vehicle such that the overall height fits with the transportation trailer.</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13915RoboCup Mechanical 20152015-01-19T03:38:20Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.&nbsp;[[File:Enlightenment.gif|frameless|right]]<br />
<p style="text-align: right;"><span style="text-align: right; line-height: 1.6;">&nbsp;</span></p><br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/w/RC15Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[[RC08-Dribbler|Dribbler]]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br/><br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Motors shipment date - March 26, 2015<br />
*Delivery of Prototype - End of March, beginning of April 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of April 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
*[[Minutes_Log|Minutes Log]]<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2015 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15OmniWheel&diff=13859RC15OmniWheel2015-01-13T04:04:04Z<p>EJones: </p>
<hr />
<div>This page is a sub-section of the [http://wiki.robojackets.org/w/RoboCupMechanical RoboCup 2015 Mechanical] page. Specifically, the Omni Wheels allow the robots to move in any direction at anytime.<br />
<br />
== Background ==<br />
<br />
The omni wheel serves the purpose of allowing the robot to move in any direction at any time. This is important for having highly dynamic robots that can execute their plays as fast as possible.<br />
<br />
The 2008 fleet of robots designed by the team utilized a&nbsp;<br />
<br />
The 2011 fleet of robots utilized rollers supported by individual pins which proved to be easier to assemble despite the increased part count. Additionally, the omni wheel had an internal ring gear mounted on the rear to engage the spur gear mounted on the 30W motors. This design proved to be compact, allowing for more internal space on the robot.&nbsp;<br />
<br />
Both the 2008 and 2011 fleet of robots use wheels that are mounted on 1 radial bearing. While this design works, it allows for a lot of out of plane motion of the wheel, which has resulted in significant rubbing and reduced performance. Both designs use simple o-rings as contacts for the ground. The 2011 robots utilized an outsourced aluminum core to seat the o-ring.<br />
<br />
== Requirements ==<br />
<br />
#In-house manufacturable (including ease of manufacturability)<br />
#Provide more grip/contact than previous designs<br />
#Must be able to mount the internal ring gear for a more compact design<br />
#Ground clearance of 0.XX inches<br />
#Must include more rollers for smoother driving performance.<br />
<br />
== Potential Design Variants ==<br />
<br />
=== Body/Housing ===<br />
<br />
#Injection molded design<br />
##Pros:<br />
###Highly geared towards mass manufacturing. Saves development time<br />
###Significantly more freedom with design parameters than a purely machined design<br />
###Potentially lighter if designed and analyzed correctly<br />
##Cons:<br />
###Relatively unknown realm of manufacturing<br />
###Generally weaker material than most metals<br />
###Development of the mold is time consuming and not easy<br />
#Typical aluminum machined design<br />
##Pros:<br />
##Cons:<br />
#Thinned and heat treated steel machined design<br />
##Pros:<br />
##Cons:<br />
<br />
=== Roller Rubber ===<br />
<br />
#Round o-rings<br />
##Pros:<br />
###Simple<br />
###The most inexpensive option<br />
###Same as what we've done in the past, so it the easiest to re-imple<br />
##Cons:<br />
###Smallest contact area ("point" contact)<br />
###Most effectively seated via a semi-circular groove on the roller - this was an outsourced job in the past<br />
#Double seal o-rings<br />
##Pros:<br />
###More contact area = more grip<br />
###Relatively cheap<br />
##Cons:<br />
###Slightly more expensive than round rings<br />
#Custom rubber rings<br />
##Pros:<br />
###Easily designed to have high contact area<br />
##Cons:<br />
###Not a commercial-of-the-shelf product and would require our team to manufacture it (more development time)<br />
###Potential inconsistencies with our in-house manfacturing process (the waterjet cutter may leave a slight flap on the edge at the "lead-in/lead-out" locations.<br />
<br />
== Chosen Design ==<br />
<br />
== Drawings ==<br />
<br />
== Materials ==<br />
<br />
{| border="1" cellpadding="1" cellspacing="1" width="735"<br />
|-<br />
| style="text-align: center" | '''Item'''<br/><br />
| style="text-align: center" | '''Material'''<br/><br />
| style="text-align: center" | '''Fleet Quantity'''<br/><br />
| style="text-align: center" | <u>Stock Material</u><br/><br />
| style="text-align: center" | <u>Cost per part</u><br/><br />
| style="text-align: center" | <u>Total Cost</u><br/><br />
| style="text-align: center" | <u>Vendor</u><br/><br />
| style="text-align: center" | <u>Part Number</u><br/><br />
| style="text-align: center" | Manufacturing Method<br/><br />
| style="text-align: center" | Notes<br/><br />
|-<br />
| style="text-align: center" | Body<br/><br />
| style="text-align: center" | Aluminum 7075<br/><br />
| style="text-align: center" | 32<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | McMaster<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | CNC Mill<br/><br />
| style="text-align: center" | <br/><br />
|-<br />
| style="text-align: center" | Cap<br/><br />
| style="text-align: center" | Hardened Steel<br/><br />
| style="text-align: center" | 32<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | McMaster<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | Waterjet<br/><br />
| style="text-align: center" | <br/><br />
|-<br />
| style="text-align: center" | Pin<br/><br />
| style="text-align: center" | Stainless Steel<br/><br />
| style="text-align: center" | 576<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | McMaster<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | (Stock component)<br/><br />
| style="text-align: center" | <br/><br />
|-<br />
| style="text-align: center" | Roller Core<br/><br />
| style="text-align: center" | Carbon Steel<br/><br />
| style="text-align: center" | 576<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | McMaster<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | Waterjet<br/><br />
| style="text-align: center" | Hardened after cut<br/><br />
|-<br />
| style="text-align: center" | Roller Rubber<br/><br />
| style="text-align: center" | Rubber<br/><br />
| style="text-align: center" | 576<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | McMaster<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | Waterjet<br/><br />
| style="text-align: center" | <br/><br />
|}<br />
<br />
== Assembly Structure ==<br />
<br />
==== Parts List ====<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>15 - Rollers (RC-2008-01-00)<br />
#1 - O-Ring (RC-2008-01-01)<br />
#1 - Roller Hub (RC-2008-01-02)</li><br />
<br />
<br />
#1 - Wheel Body (RC-2008-02-01)<br />
#1 - Plate (RC-2008-02-02)<br />
#1 - Ring / Axel (RC-2008-02-03)<br />
#3 - 6-32 1/4" Long (RC-2008-07-04)<br />
<br />
==== Instructions ====<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Place 15 rollers on wire axle.</li><br />
<li>Bend to circular shape.</li><br />
<li>Drop in omni body.</li><br />
<li>Place omni plate on omni body.</li><br />
<li>Fasten using RC-2008-07-04</li><br />
</ol><br />
<br />
== Cost Estimates ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Rollers - $0.42 x 15 = $6.30</li><br />
<li>Body - $4.00</li><br />
<li>O-rings - $0.03 x 15 = $0.45</li><br />
<li>Plate -</li><br />
<li>Fasteners - $0.30 x 3 = $0.90</li><br />
</ol><br />
<br />
:'''Total'''&nbsp;- $11.65 (missing plate)<br />
::''Note - Shipping is included in per unit cost.''<br />
<br />
== Action Log ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>12/04/2007 - RC-2008-PO-02 - Purchase Order for Omni Roller Hub Samples (Option A & B).</li><br />
<li>12/14/2007 - RC-2008-PO-01 - Purchase Order for Omni Body Prototypes.</li><br />
<li>12/28/2007 - Fabrication of Omni Plates completed.</li><br />
<li>12/28/2007 - Full omni prototype completed.<br />
:Notes - Very hard to get axle wire in to omni bodies must find new material.</li><br />
<li>12/28/2007 - Roller Option A revised and selected for prototype set.<br />
:Notes - Option B (square) is cheaper and requires a costs analysis change in dimension and different roller material may be required.</li><br />
<li>12/29/2007 - RC-2008-PO-03 - Purchase Order for Omni Roller Hub (Rev 2).</li><br />
<li>12/31/2007 - Looking at 8867K25, 9495K92 for alternate wire.</li><br />
<li>01/29/2007 - Keeping original wire.</li><br />
<li>03/05/2007 - Omni rollers finalized.</li><br />
<li>03/08/2008 - Omni rollers sent out. (20 cents each)</li><br />
<li>03/17/2008 - Investigating the use dowel pins to cut down on machining costs.</li><br />
<li>03/30/2008 - Designs for body are finalized and sent out to supplier.<br />
:Notes - Dowel / locating pins, relaxing tolerances, a new supplier, and hex broaching our selves have brought down the machining cost to around $4 per body (prototype $53).</li><br />
<li>04/13/2008 - Fleet rollers arrive and are fitted with o-rings.</li><br />
<li>05/14/2008 - Fleet bodies arrive, are hex'd, and have locating pins pressed in.<br />
:Notes - A few were damaged in process a fitting for press was made, and replacements ordered.</li><br />
</ol><br />
<br/><br/><br/><br/><br/><br/>[[Category:RoboCup]] [[Category:Mechanical]] [[Category:Year: 2007-2008|Year:_2007-2008]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15OmniWheel&diff=13857RC15OmniWheel2015-01-13T04:03:20Z<p>EJones: EJones moved page RC14OmniWheel to RC15OmniWheel</p>
<hr />
<div>This page is a sub-section of the [http://wiki.robojackets.org/mediawiki/RoboCupMechanical RoboCup 2015 Mechanical] page. Specifically, the Omni Wheels allow the robots to move in any direction at anytime.<br />
<br />
== Background ==<br />
<br />
The omni wheel serves the purpose of allowing the robot to move in any direction at any time. This is important for having highly dynamic robots that can execute their plays as fast as possible.<br />
<br />
The 2008 fleet of robots designed by the team utilized a&nbsp;<br />
<br />
The 2011 fleet of robots utilized rollers supported by individual pins which proved to be easier to assemble despite the increased part count. Additionally, the omni wheel had an internal ring gear mounted on the rear to engage the spur gear mounted on the 30W motors. This design proved to be compact, allowing for more internal space on the robot.&nbsp;<br />
<br />
Both the 2008 and 2011 fleet of robots use wheels that are mounted on 1 radial bearing. While this design works, it allows for a lot of out of plane motion of the wheel, which has resulted in significant rubbing and reduced performance. Both designs use simple o-rings as contacts for the ground. The 2011 robots utilized an outsourced aluminum core to seat the o-ring.<br />
<br />
== Requirements ==<br />
<br />
#In-house manufacturable (including ease of manufacturability)<br />
#Provide more grip/contact than previous designs<br />
#Must be able to mount the internal ring gear for a more compact design<br />
#Ground clearance of 0.XX inches<br />
#Must include more rollers for smoother driving performance.<br />
<br />
== Potential Design Variants ==<br />
<br />
=== Body/Housing ===<br />
<br />
#Injection molded design<br />
##Pros:<br />
###Highly geared towards mass manufacturing. Saves development time<br />
###Significantly more freedom with design parameters than a purely machined design<br />
###Potentially lighter if designed and analyzed correctly<br />
##Cons:<br />
###Relatively unknown realm of manufacturing<br />
###Generally weaker material than most metals<br />
###Development of the mold is time consuming and not easy<br />
#Typical aluminum machined design<br />
##Pros:<br />
##Cons:<br />
#Thinned and heat treated steel machined design<br />
##Pros:<br />
##Cons:<br />
<br />
=== Roller Rubber ===<br />
<br />
#Round o-rings<br />
##Pros:<br />
###Simple<br />
###The most inexpensive option<br />
###Same as what we've done in the past, so it the easiest to re-imple<br />
##Cons:<br />
###Smallest contact area ("point" contact)<br />
###Most effectively seated via a semi-circular groove on the roller - this was an outsourced job in the past<br />
#Double seal o-rings<br />
##Pros:<br />
###More contact area = more grip<br />
###Relatively cheap<br />
##Cons:<br />
###Slightly more expensive than round rings<br />
#Custom rubber rings<br />
##Pros:<br />
###Easily designed to have high contact area<br />
##Cons:<br />
###Not a commercial-of-the-shelf product and would require our team to manufacture it (more development time)<br />
###Potential inconsistencies with our in-house manfacturing process (the waterjet cutter may leave a slight flap on the edge at the "lead-in/lead-out" locations.<br />
<br />
== Chosen Design ==<br />
<br />
== Drawings ==<br />
<br />
== Materials ==<br />
<br />
{| border="1" cellpadding="1" cellspacing="1" width="735"<br />
|-<br />
| style="text-align: center" | '''Item'''<br/><br />
| style="text-align: center" | '''Material'''<br/><br />
| style="text-align: center" | '''Fleet Quantity'''<br/><br />
| style="text-align: center" | <u>Stock Material</u><br/><br />
| style="text-align: center" | <u>Cost per part</u><br/><br />
| style="text-align: center" | <u>Total Cost</u><br/><br />
| style="text-align: center" | <u>Vendor</u><br/><br />
| style="text-align: center" | <u>Part Number</u><br/><br />
| style="text-align: center" | Manufacturing Method<br/><br />
| style="text-align: center" | Notes<br/><br />
|-<br />
| style="text-align: center" | Body<br/><br />
| style="text-align: center" | Aluminum 7075<br/><br />
| style="text-align: center" | 32<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | McMaster<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | CNC Mill<br/><br />
| style="text-align: center" | <br/><br />
|-<br />
| style="text-align: center" | Cap<br/><br />
| style="text-align: center" | Hardened Steel<br/><br />
| style="text-align: center" | 32<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | McMaster<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | Waterjet<br/><br />
| style="text-align: center" | <br/><br />
|-<br />
| style="text-align: center" | Pin<br/><br />
| style="text-align: center" | Stainless Steel<br/><br />
| style="text-align: center" | 576<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | McMaster<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | (Stock component)<br/><br />
| style="text-align: center" | <br/><br />
|-<br />
| style="text-align: center" | Roller Core<br/><br />
| style="text-align: center" | Carbon Steel<br/><br />
| style="text-align: center" | 576<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | McMaster<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | Waterjet<br/><br />
| style="text-align: center" | Hardened after cut<br/><br />
|-<br />
| style="text-align: center" | Roller Rubber<br/><br />
| style="text-align: center" | Rubber<br/><br />
| style="text-align: center" | 576<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | McMaster<br/><br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | Waterjet<br/><br />
| style="text-align: center" | <br/><br />
|}<br />
<br />
== Assembly Structure ==<br />
<br />
==== Parts List ====<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>15 - Rollers (RC-2008-01-00)<br />
#1 - O-Ring (RC-2008-01-01)<br />
#1 - Roller Hub (RC-2008-01-02)</li><br />
<br />
<br />
#1 - Wheel Body (RC-2008-02-01)<br />
#1 - Plate (RC-2008-02-02)<br />
#1 - Ring / Axel (RC-2008-02-03)<br />
#3 - 6-32 1/4" Long (RC-2008-07-04)<br />
<br />
==== Instructions ====<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Place 15 rollers on wire axle.</li><br />
<li>Bend to circular shape.</li><br />
<li>Drop in omni body.</li><br />
<li>Place omni plate on omni body.</li><br />
<li>Fasten using RC-2008-07-04</li><br />
</ol><br />
<br />
== Cost Estimates ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Rollers - $0.42 x 15 = $6.30</li><br />
<li>Body - $4.00</li><br />
<li>O-rings - $0.03 x 15 = $0.45</li><br />
<li>Plate -</li><br />
<li>Fasteners - $0.30 x 3 = $0.90</li><br />
</ol><br />
<br />
:'''Total'''&nbsp;- $11.65 (missing plate)<br />
::''Note - Shipping is included in per unit cost.''<br />
<br />
== Action Log ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>12/04/2007 - RC-2008-PO-02 - Purchase Order for Omni Roller Hub Samples (Option A & B).</li><br />
<li>12/14/2007 - RC-2008-PO-01 - Purchase Order for Omni Body Prototypes.</li><br />
<li>12/28/2007 - Fabrication of Omni Plates completed.</li><br />
<li>12/28/2007 - Full omni prototype completed.<br />
:Notes - Very hard to get axle wire in to omni bodies must find new material.</li><br />
<li>12/28/2007 - Roller Option A revised and selected for prototype set.<br />
:Notes - Option B (square) is cheaper and requires a costs analysis change in dimension and different roller material may be required.</li><br />
<li>12/29/2007 - RC-2008-PO-03 - Purchase Order for Omni Roller Hub (Rev 2).</li><br />
<li>12/31/2007 - Looking at 8867K25, 9495K92 for alternate wire.</li><br />
<li>01/29/2007 - Keeping original wire.</li><br />
<li>03/05/2007 - Omni rollers finalized.</li><br />
<li>03/08/2008 - Omni rollers sent out. (20 cents each)</li><br />
<li>03/17/2008 - Investigating the use dowel pins to cut down on machining costs.</li><br />
<li>03/30/2008 - Designs for body are finalized and sent out to supplier.<br />
:Notes - Dowel / locating pins, relaxing tolerances, a new supplier, and hex broaching our selves have brought down the machining cost to around $4 per body (prototype $53).</li><br />
<li>04/13/2008 - Fleet rollers arrive and are fitted with o-rings.</li><br />
<li>05/14/2008 - Fleet bodies arrive, are hex'd, and have locating pins pressed in.<br />
:Notes - A few were damaged in process a fitting for press was made, and replacements ordered.</li><br />
</ol><br />
<br/><br/><br/><br/>[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2007-2008|Year:_2007-2008]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC14OmniWheel&diff=13858RC14OmniWheel2015-01-13T04:03:20Z<p>EJones: EJones moved page RC14OmniWheel to RC15OmniWheel</p>
<hr />
<div>#REDIRECT [[RC15OmniWheel]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13847RC15Motors&Gears2015-01-12T23:53:57Z<p>EJones: </p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from&nbsp;[http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.<br />
<br />
= Background =<br />
<br />
== 2008 Robot Fleet ==<br />
<br />
The 2008 fleet of robots utilize a 30W Maxon Motor. Power was transmitted through a spur gear fixed to the shaft. This spur gear is held in place by a set screw that was set onto a flat grinded onto the shaft. There are no encoders on these robots.<br />
<br />
=== Performance ===<br />
<br />
These motors perform fine to this day (several years later). However, the lack of encoders makes it difficult to control the robots with any degree of precision.<br />
<br />
== 2011 Robot Fleet ==<br />
<br />
The 2011 fleet of robots utilize the same 30W Maxon Motor. Power was transmitted through a spur gear built into the motor shaft. The custom shafts were outsourced, and were effectively pinion wire that was turned down on a lathe to have appropriate sizing for:<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Pressing the shaft into the brushless motor shell</li><br />
<li>Pressing an encoder wheel onto the end of the shaft</li><br />
<li>Terminating the shaft such that the encoder housing could be capped and kept undisturbed from outside elements</li><br />
</ol><br />
<br />
=== Performance ===<br />
<br />
These motors perform extremely poorly due to the in-house manipulation. Due to errors during the team's manufacturing process in previous years, the brushless motor shell can slip on the custom shaft (i.e. the press fit is not strong enough to prevent slip), thereby degrading power transmission. This was rectified to an extent by epoxying the shaft onto the shell. However, this process is messy, inconsistent and sometimes results in deformation of components when assembled, thereby degrading the motors even further.&nbsp;<br />
<br />
The 2011 robots suffer from hall faults due the misalignment of components, and the fleet is largely unusable due to these problems. However, the encoders do prove to be useful if the robot has little to no motor issues.<br />
<br />
= Requirements =<br />
<br />
The motors and drive gears of the 2015 robot fleet is intended combine the good aspects of both the 2008 and 2011 fleets, without any of the problems. These requirements are as follows:<br />
<br />
== Primary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The team should not have to disassemble the motors in order to assemble the drivetrain. (The 2011 robots required a custom shaft, which required pressing combing apart and then reassembling. This results in degraded performance due to a variety of issues).</li><br />
<li>No epoxy to be used anywhere in the process</li><br />
<li>Any motor shaft manipulation should be able to be done safely and easily on in-house equipment</li><br />
<li>Compact design following that of the 2011 robots, as the large 50W motors do not permit such broad drive module as seen in the 2008 fleet.</li><br />
</ol><br />
<br />
== Secondary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The gears for the drivetrain are manufactured in-house on either the laser cutter, waterjet cutter, or injection molding machine</li><br />
</ol><br />
<br />
<br />
<br />
= Testing and Prototyping =<br />
<br />
== Waterjet ==<br />
<br />
The two main materials cut via the waterjet have been aluminum 6061 and mild steel. Because of the nature of the waterjet process, parts are often produced with taper. When trying to achieve flat gear teeth, this is undesirable. Below are tests we ran to understand the taper produced by the process and account for it.<br />
<br />
For these materials, we modeled a 1"x2" rectangle and cut it out to determine understand the tolerances of the waterjet process. By understanding the taper produced by the waterjet, we could account for that by using the tilting capability of the waterjet. The results are below.<br />
<br />
=== Steel ===<br />
<br />
Thickness - 0.117" thick<br />
<br />
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | '''Trial 1'''<br/><br />
| style="text-align: center" | '''Trial 2'''<br/><br />
| style="text-align: center" | '''Zero-Taper Attempt'''<br/><br />
|-<br />
| Waterjet set thickness<br/><br />
| style="text-align: center" | 0.117"<br />
| style="text-align: center" | 0.130"<br />
| style="text-align: center" | 0.117"<br/><br />
|-<br />
| Taper compensation? (Yes/No)<br/><br />
| style="text-align: center" | No<br />
| style="text-align: center" | No<br />
| style="text-align: center" | Yes<br/><br />
|-<br />
| Estimated time to cut (minutes)<br/><br />
| style="text-align: center" | 0.583<br />
| style="text-align: center" | 0.636<br />
| style="text-align: center" | 0.938<br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br/><br />
| style="text-align: center" | 0.9937<br />
| style="text-align: center" | 0.9877<br />
| style="text-align: center" | 0.9945<br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br/><br />
| style="text-align: center" | 1.0016<br />
| style="text-align: center" | 1.0002<br />
| style="text-align: center" | 0.9931<br />
|-<br />
| Resulting Taper (degrees)<br/><br />
| style="text-align: center" | 1.93<br/><br />
| style="text-align: center" | 6.25<br />
| style="text-align: center" | <u>'''0.342'''</u><br/><br />
|}<br />
<br />
As can be seen, through some basic computation, we were able to significantly reduce the draft encountered in the waterjet process.<br />
<br />
Estimated time for cutting one of the motor gears: 1.6 minutes<br />
<br />
=== Aluminum ===<br />
<br />
Thickness - 0.125" thick<br />
<br />
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
|-<br />
| Waterjet set thickness<br />
| <br/><br />
| <br/><br />
|-<br />
| Taper compensation? (Yes/No)<br />
| <br/><br />
| <br/><br />
|-<br />
| Estimated time to cut (minutes)<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Resulting Taper (degrees)<br />
| <br/><br />
| <br/><br />
|}<br />
<br />
== Laser Cutter ==<br />
<br />
Laser cutters are great machines for cutting a variety of materials, primarily plastics and woods. The minimal setup and overhead, as well as the cleanliness of the process makes it a more preferred process when compared to the waterjet or mill. However, metals cannot be cut on this machine - only metal marked with a marking compound.<br />
<br />
Specifically, we have access to a variety of laser cutters on campus. The most common ones that we use are Trotec Speedy 300 laser cutters ([http://www.troteclaser.com/en-US/Laser-Machines/Mid-Size/Pages/Speedy300.aspx http://www.troteclaser.com/en-US/Laser-Machines/Mid-Size/Pages/Speedy300.aspx]). There is 1 machine at the MRDC that is 45 Watts, and 2 more that are 120 Watts.<br />
<br />
==== Delrin/Acetal ====<br />
<br />
Our primary material to laser cut was delrin. Delrin exhibits nice properties in terms of strength and smoothness. It also cuts nicely on the laser when the proper settings are determined.<br />
<br />
*Special care should be taken when cutting delrin. The cutting process produces formaldehyde gas. Additionally, the material burns with a fairly colorless flame.<br />
<br />
===== Cut Settings =====<br />
<br />
In short, we did several (25) high power, slow passes in etch mode on the laser. This was followed up with 2 cut passes at a relatively low speed. Below are the settings we used to cut the delrin gears with reasonable accuracy.<br />
<br />
{| style="width: 212px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="width: 158px" | Etch/Cut?<br/><br />
| style="width: 41px" | Etch<br />
|-<br />
| style="width: 158px" | Line Thickness<br/><br />
| style="width: 41px" | 0.001"<br />
|-<br />
| style="width: 158px" | Power<br/><br />
| style="width: 41px" | 90<br />
|-<br />
| style="width: 158px" | Speed<br />
| style="width: 41px" | 4.5<br />
|-<br />
| style="width: 158px" | PPI/Hz<br />
| style="width: 41px" | 1000<br />
|-<br />
| style="width: 158px" | Passes<br />
| style="width: 41px" | 25<br />
|-<br />
| style="width: 158px" | Lens (Black/Red/Blue)<br />
| style="width: 41px" | Black<br />
|}<br />
<br />
This was followed by a cut at the following settings:<br />
<br />
{| style="width: 222px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="width: 159px" | Etch/Cut?<br />
| style="width: 50px" | Cut<br />
|-<br />
| style="width: 159px" | Line Thickness<br />
| style="width: 50px" | Vector<br />
|-<br />
| style="width: 159px" | Power<br />
| style="width: 50px" | 90<br />
|-<br />
| style="width: 159px" | Speed<br />
| style="width: 50px" | 6<br />
|-<br />
| style="width: 159px" | PPI/Hz<br />
| style="width: 50px" | 1000<br />
|-<br />
| style="width: 159px" | Passes<br />
| style="width: 50px" | 2<br />
|-<br />
| style="width: 159px" | Lens (Black/Red/Blue<br />
| style="width: 50px" | Black<br/><br />
|}<br />
<br />
It is likely very possible to cut the gears without as many passes. We hypothesize that increasing the PPI/Hz may help to fully cut all edges of the material so that it is fully removed without the final 2 cut passes.</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13846RC15Motors&Gears2015-01-12T23:53:15Z<p>EJones: </p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from&nbsp;[http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.<br />
<br />
= Background =<br />
<br />
== 2008 Robot Fleet ==<br />
<br />
The 2008 fleet of robots utilize a 30W Maxon Motor. Power was transmitted through a spur gear fixed to the shaft. This spur gear is held in place by a set screw that was set onto a flat grinded onto the shaft. There are no encoders on these robots.<br />
<br />
=== Performance ===<br />
<br />
These motors perform fine to this day (several years later). However, the lack of encoders makes it difficult to control the robots with any degree of precision.<br />
<br />
== 2011 Robot Fleet ==<br />
<br />
The 2011 fleet of robots utilize the same 30W Maxon Motor. Power was transmitted through a spur gear built into the motor shaft. The custom shafts were outsourced, and were effectively pinion wire that was turned down on a lathe to have appropriate sizing for:<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Pressing the shaft into the brushless motor shell</li><br />
<li>Pressing an encoder wheel onto the end of the shaft</li><br />
<li>Terminating the shaft such that the encoder housing could be capped and kept undisturbed from outside elements</li><br />
</ol><br />
<br />
=== Performance ===<br />
<br />
These motors perform extremely poorly due to the in-house manipulation. Due to errors during the team's manufacturing process in previous years, the brushless motor shell can slip on the custom shaft (i.e. the press fit is not strong enough to prevent slip), thereby degrading power transmission. This was rectified to an extent by epoxying the shaft onto the shell. However, this process is messy, inconsistent and sometimes results in deformation of components when assembled, thereby degrading the motors even further.&nbsp;<br />
<br />
The 2011 robots suffer from hall faults due the misalignment of components, and the fleet is largely unusable due to these problems. However, the encoders do prove to be useful if the robot has little to no motor issues.<br />
<br />
= Requirements =<br />
<br />
The motors and drive gears of the 2015 robot fleet is intended combine the good aspects of both the 2008 and 2011 fleets, without any of the problems. These requirements are as follows:<br />
<br />
== Primary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The team should not have to disassemble the motors in order to assemble the drivetrain. (The 2011 robots required a custom shaft, which required pressing combing apart and then reassembling. This results in degraded performance due to a variety of issues).</li><br />
<li>No epoxy to be used anywhere in the process</li><br />
<li>Any motor shaft manipulation should be able to be done safely and easily on in-house equipment</li><br />
<li>Compact design following that of the 2011 robots, as the large 50W motors do not permit such broad drive module as seen in the 2008 fleet.</li><br />
</ol><br />
<br />
== Secondary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The gears for the drivetrain are manufactured in-house on either the laser cutter, waterjet cutter, or injection molding machine</li><br />
</ol><br />
<br />
<br />
<br />
= Testing and Prototyping =<br />
<br />
== Waterjet ==<br />
<br />
The two main materials cut via the waterjet have been aluminum 6061 and mild steel. Because of the nature of the waterjet process, parts are often produced with taper. When trying to achieve flat gear teeth, this is undesirable. Below are tests we ran to understand the taper produced by the process and account for it.<br />
<br />
For these materials, we modeled a 1"x2" rectangle and cut it out to determine understand the tolerances of the waterjet process. By understanding the taper produced by the waterjet, we could account for that by using the tilting capability of the waterjet. The results are below.<br />
<br />
=== Steel ===<br />
<br />
Thickness - 0.117" thick<br />
<br />
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | '''Trial 1'''<br/><br />
| style="text-align: center" | '''Trial 2'''<br/><br />
| style="text-align: center" | '''Zero-Taper Attempt'''<br/><br />
|-<br />
| Waterjet set thickness<br/><br />
| style="text-align: center" | 0.117"<br />
| style="text-align: center" | 0.130"<br />
| style="text-align: center" | 0.117"<br/><br />
|-<br />
| Taper compensation? (Yes/No)<br/><br />
| style="text-align: center" | No<br />
| style="text-align: center" | No<br />
| style="text-align: center" | Yes<br/><br />
|-<br />
| Estimated time to cut (minutes)<br/><br />
| style="text-align: center" | 0.583<br />
| style="text-align: center" | 0.636<br />
| style="text-align: center" | 0.938<br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br/><br />
| style="text-align: center" | 0.9937<br />
| style="text-align: center" | 0.9877<br />
| style="text-align: center" | 0.9945<br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br/><br />
| style="text-align: center" | 1.0016<br />
| style="text-align: center" | 1.0002<br />
| style="text-align: center" | 0.9931<br />
|-<br />
| Resulting Taper (degrees)<br/><br />
| style="text-align: center" | 1.93<br/><br />
| style="text-align: center" | 6.25<br />
| style="text-align: center" | <u>'''0.342'''</u><br/><br />
|}<br />
<br />
As can be seen, through some basic computation, we were able to significantly reduce the draft encountered in the waterjet process.<br />
<br />
Estimated time for cutting one of the motor gears: 1.6 minutes<br />
<br />
=== Aluminum ===<br />
<br />
Thickness - 0.125" thick<br />
<br />
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
|-<br />
| Waterjet set thickness<br />
| <br/><br />
| <br/><br />
|-<br />
| Taper compensation? (Yes/No)<br />
| <br/><br />
| <br/><br />
|-<br />
| Estimated time to cut (minutes)<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Resulting Taper (degrees)<br />
| <br/><br />
| <br/><br />
|}<br />
<br />
== Laser Cutter ==<br />
<br />
Laser cutters are great machines for cutting a variety of materials, primarily plastics and woods. The minimal setup and overhead, as well as the cleanliness of the process makes it a more preferred process when compared to the waterjet or mill. However, metals cannot be cut on this machine - only metal marked with a marking compound.<br />
<br />
Specifically, we have access to a variety of laser cutters on campus. The most common ones that we use are Trotec Speedy 300 laser cutters ([http://www.troteclaser.com/en-US/Laser-Machines/Mid-Size/Pages/Speedy300.aspx http://www.troteclaser.com/en-US/Laser-Machines/Mid-Size/Pages/Speedy300.aspx]). There is 1 machine at the MRDC that is 45 Watts, and 2 more that are 120 Watts.<br />
<br />
==== Delrin/Acetal ====<br />
<br />
Our primary material to laser cut was delrin. Delrin exhibits nice properties in terms of strength and smoothness. It also cuts nicely on the laser when the proper settings are determined.<br />
<br />
*Special care should be taken when cutting delrin. The cutting process produces formaldehyde gas. Additionally, the material burns with a fairly colorless flame.<br />
<br />
===== Cut Settings =====<br />
<br />
In short, we did 25 high power, slow passes in etch mode on the laser. This was followed up with 2 cut passes at a relatively low speed. Below are the settings we used to cut the delrin gears with reasonable accuracy.<br />
<br />
{| style="width: 212px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="width: 158px" | Etch/Cut?<br/><br />
| style="width: 41px" | Etch<br />
|-<br />
| style="width: 158px" | Line Thickness<br/><br />
| style="width: 41px" | 0.001"<br />
|-<br />
| style="width: 158px" | Power<br/><br />
| style="width: 41px" | 90<br />
|-<br />
| style="width: 158px" | Speed<br />
| style="width: 41px" | 4.5<br />
|-<br />
| style="width: 158px" | PPI/Hz<br />
| style="width: 41px" | 1000<br />
|-<br />
| style="width: 158px" | Passes<br />
| style="width: 41px" | 25<br />
|-<br />
| style="width: 158px" | Lens (Black/Red/Blue)<br />
| style="width: 41px" | Black<br />
|}<br />
<br />
This was followed by a cut at the following settings:<br />
<br />
{| style="width: 222px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="width: 159px" | Etch/Cut?<br />
| style="width: 50px" | Cut<br />
|-<br />
| style="width: 159px" | Line Thickness<br />
| style="width: 50px" | Vector<br />
|-<br />
| style="width: 159px" | Power<br />
| style="width: 50px" | 90<br />
|-<br />
| style="width: 159px" | Speed<br />
| style="width: 50px" | 6<br />
|-<br />
| style="width: 159px" | PPI/Hz<br />
| style="width: 50px" | 1000<br />
|-<br />
| style="width: 159px" | Passes<br />
| style="width: 50px" | 2<br />
|-<br />
| style="width: 159px" | Lens (Black/Red/Blue<br />
| style="width: 50px" | Black<br/><br />
|}<br />
<br />
It is likely very possible to cut the gears without as many passes. We hypothesize that increasing the PPI/Hz may help to fully cut all edges of the material so that it is fully removed without the final 2 cut passes.</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13845RC15Motors&Gears2015-01-12T23:43:46Z<p>EJones: </p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from&nbsp;[http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.<br />
<br />
= Background =<br />
<br />
== 2008 Robot Fleet ==<br />
<br />
The 2008 fleet of robots utilize a 30W Maxon Motor. Power was transmitted through a spur gear fixed to the shaft. This spur gear is held in place by a set screw that was set onto a flat grinded onto the shaft. There are no encoders on these robots.<br />
<br />
=== Performance ===<br />
<br />
These motors perform fine to this day (several years later). However, the lack of encoders makes it difficult to control the robots with any degree of precision.<br />
<br />
== 2011 Robot Fleet ==<br />
<br />
The 2011 fleet of robots utilize the same 30W Maxon Motor. Power was transmitted through a spur gear built into the motor shaft. The custom shafts were outsourced, and were effectively pinion wire that was turned down on a lathe to have appropriate sizing for:<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Pressing the shaft into the brushless motor shell</li><br />
<li>Pressing an encoder wheel onto the end of the shaft</li><br />
<li>Terminating the shaft such that the encoder housing could be capped and kept undisturbed from outside elements</li><br />
</ol><br />
<br />
=== Performance ===<br />
<br />
These motors perform extremely poorly due to the in-house manipulation. Due to errors during the team's manufacturing process in previous years, the brushless motor shell can slip on the custom shaft (i.e. the press fit is not strong enough to prevent slip), thereby degrading power transmission. This was rectified to an extent by epoxying the shaft onto the shell. However, this process is messy, inconsistent and sometimes results in deformation of components when assembled, thereby degrading the motors even further.&nbsp;<br />
<br />
The 2011 robots suffer from hall faults due the misalignment of components, and the fleet is largely unusable due to these problems. However, the encoders do prove to be useful if the robot has little to no motor issues.<br />
<br />
= Requirements =<br />
<br />
The motors and drive gears of the 2015 robot fleet is intended combine the good aspects of both the 2008 and 2011 fleets, without any of the problems. These requirements are as follows:<br />
<br />
== Primary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The team should not have to disassemble the motors in order to assemble the drivetrain. (The 2011 robots required a custom shaft, which required pressing combing apart and then reassembling. This results in degraded performance due to a variety of issues).</li><br />
<li>No epoxy to be used anywhere in the process</li><br />
<li>Any motor shaft manipulation should be able to be done safely and easily on in-house equipment</li><br />
<li>Compact design following that of the 2011 robots, as the large 50W motors do not permit such broad drive module as seen in the 2008 fleet.</li><br />
</ol><br />
<br />
== Secondary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The gears for the drivetrain are manufactured in-house on either the laser cutter, waterjet cutter, or injection molding machine</li><br />
</ol><br />
<br />
<br />
<br />
= Testing and Prototyping =<br />
<br />
== Waterjet ==<br />
<br />
The two main materials cut via the waterjet have been aluminum 6061 and mild steel. Because of the nature of the waterjet process, parts are often produced with taper. When trying to achieve flat gear teeth, this is undesirable. Below are tests we ran to understand the taper produced by the process and account for it.<br />
<br />
For these materials, we modeled a 1"x2" rectangle and cut it out to determine understand the tolerances of the waterjet process. By understanding the taper produced by the waterjet, we could account for that by using the tilting capability of the waterjet. The results are below.<br />
<br />
=== Steel ===<br />
<br />
Thickness - 0.117" thick<br />
<br />
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | '''Trial 1'''<br/><br />
| style="text-align: center" | '''Trial 2'''<br/><br />
| style="text-align: center" | '''Zero-Taper Attempt'''<br/><br />
|-<br />
| Waterjet set thickness<br/><br />
| style="text-align: center" | 0.117"<br />
| style="text-align: center" | 0.130"<br />
| style="text-align: center" | 0.117"<br/><br />
|-<br />
| Taper compensation? (Yes/No)<br/><br />
| style="text-align: center" | No<br />
| style="text-align: center" | No<br />
| style="text-align: center" | Yes<br/><br />
|-<br />
| Estimated time to cut (minutes)<br/><br />
| style="text-align: center" | 0.583<br />
| style="text-align: center" | 0.636<br />
| style="text-align: center" | 0.938<br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br/><br />
| style="text-align: center" | 0.9937<br />
| style="text-align: center" | 0.9877<br />
| style="text-align: center" | 0.9945<br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br/><br />
| style="text-align: center" | 1.0016<br />
| style="text-align: center" | 1.0002<br />
| style="text-align: center" | 0.9931<br />
|-<br />
| Resulting Taper (degrees)<br/><br />
| style="text-align: center" | 1.93<br/><br />
| style="text-align: center" | 6.25<br />
| style="text-align: center" | <u>'''0.342'''</u><br/><br />
|}<br />
<br />
As can be seen, through some basic computation, we were able to significantly reduce the draft encountered in the waterjet process.<br />
<br />
Estimated time for cutting one of the motor gears: 1.6 minutes<br />
<br />
=== Aluminum ===<br />
<br />
Thickness - 0.125" thick<br />
<br />
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
|-<br />
| Waterjet set thickness<br />
| <br/><br />
| <br/><br />
|-<br />
| Taper compensation? (Yes/No)<br />
| <br/><br />
| <br/><br />
|-<br />
| Estimated time to cut (minutes)<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Resulting Taper (degrees)<br />
| <br/><br />
| <br/><br />
|}<br />
<br />
== Laser Cutter ==<br />
<br />
Laser cutters are great machines for cutting a variety of materials, primarily plastics and woods. The lack of setup overhead and cleanliness of the process makes it a more preferred process when compared to the waterjet or mill. However, metals cannot be cut on this machine - only etched.<br />
<br />
Specifically, we have access on-campus to a variety of laser cutters. The most common ones that we use are Trotec Speedy 300 laser cutters (http://www.troteclaser.com/en-US/Laser-Machines/Mid-Size/Pages/Speedy300.aspx). There is 1 machine at the MRDC that is 45 Watts, and 2 more that are 120 Watts.<br />
<br />
==== Delrin/Acetal ====<br />
<br />
Our primary material to laser cut was delrin. Delrin exhibits nice properties in terms of strength and smoothness. It also cuts nicely when the proper settings are determined.<br />
<br />
*Special care should be taken when cutting delrin. The cutting process produces formaldehyde gas. Additionally, the material burns with a fairly colorless flame.<br />
<br />
===== Cut Settings =====<br />
<br />
In short, we did 25 high power, slow passes in etch mode on the laser. This was followed up with 2 cut passes at a relatively low speed. Below are the settings we used to cut the delrin gears with reasonable accuracy.<br />
<br />
{| style="width: 212px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="width: 158px" | Etch/Cut?<br/><br />
| style="width: 41px" | Etch<br />
|-<br />
| style="width: 158px" | Line Thickness<br/><br />
| style="width: 41px" | 0.001"<br />
|-<br />
| style="width: 158px" | Power<br/><br />
| style="width: 41px" | 90<br />
|-<br />
| style="width: 158px" | Speed<br />
| style="width: 41px" | 4.5<br />
|-<br />
| style="width: 158px" | PPI/Hz<br />
| style="width: 41px" | 1000<br />
|-<br />
| style="width: 158px" | Passes<br />
| style="width: 41px" | 25<br />
|-<br />
| style="width: 158px" | Lens (Black/Red/Blue)<br />
| style="width: 41px" | Black<br />
|}<br />
<br />
This was followed by a cut at the following settings:<br />
<br />
{| style="width: 222px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="width: 159px" | Etch/Cut?<br />
| style="width: 50px" | Cut<br />
|-<br />
| style="width: 159px" | Line Thickness<br />
| style="width: 50px" | Vector<br />
|-<br />
| style="width: 159px" | Power<br />
| style="width: 50px" | 90<br />
|-<br />
| style="width: 159px" | Speed<br />
| style="width: 50px" | 6<br />
|-<br />
| style="width: 159px" | PPI/Hz<br />
| style="width: 50px" | 1000<br />
|-<br />
| style="width: 159px" | Passes<br />
| style="width: 50px" | 2<br />
|-<br />
| style="width: 159px" | Lens (Black/Red/Blue<br />
| style="width: 50px" | Black<br/><br />
|}<br />
<br />
It is likely very possible to cut the gears without as many passes. We hypothesize that increasing the PPI/Hz may help to fully cut all edges of the material so that it is fully removed without the final 2 cut passes.</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13844RC15Motors&Gears2015-01-12T01:48:36Z<p>EJones: </p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from&nbsp;[http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.<br />
<br />
= Background =<br />
<br />
== 2008 Robot Fleet ==<br />
<br />
The 2008 fleet of robots utilize a 30W Maxon Motor. Power was transmitted through a spur gear fixed to the shaft. This spur gear is held in place by a set screw that was set onto a flat grinded onto the shaft. There are no encoders on these robots.<br />
<br />
=== Performance ===<br />
<br />
These motors perform fine to this day (several years later). However, the lack of encoders makes it difficult to control the robots with any degree of precision.<br />
<br />
== 2011 Robot Fleet ==<br />
<br />
The 2011 fleet of robots utilize the same 30W Maxon Motor. Power was transmitted through a spur gear built into the motor shaft. The custom shafts were outsourced, and were effectively pinion wire that was turned down on a lathe to have appropriate sizing for:<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Pressing the shaft into the brushless motor shell</li><br />
<li>Pressing an encoder wheel onto the end of the shaft</li><br />
<li>Terminating the shaft such that the encoder housing could be capped and kept undisturbed from outside elements</li><br />
</ol><br />
<br />
=== Performance ===<br />
<br />
These motors perform extremely poorly due to the in-house manipulation. Due to errors during the team's manufacturing process in previous years, the brushless motor shell can slip on the custom shaft (i.e. the press fit is not strong enough to prevent slip), thereby degrading power transmission. This was rectified to an extent by epoxying the shaft onto the shell. However, this process is messy, inconsistent and sometimes results in deformation of components when assembled, thereby degrading the motors even further.&nbsp;<br />
<br />
The 2011 robots suffer from hall faults due the misalignment of components, and the fleet is largely unusable due to these problems. However, the encoders do prove to be useful if the robot has little to no motor issues.<br />
<br />
= Requirements =<br />
<br />
The motors and drive gears of the 2015 robot fleet is intended combine the good aspects of both the 2008 and 2011 fleets, without any of the problems. These requirements are as follows:<br />
<br />
== Primary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The team should not have to disassemble the motors in order to assemble the drivetrain. (The 2011 robots required a custom shaft, which required pressing combing apart and then reassembling. This results in degraded performance due to a variety of issues).</li><br />
<li>No epoxy to be used anywhere in the process</li><br />
<li>Any motor shaft manipulation should be able to be done safely and easily on in-house equipment</li><br />
<li>Compact design following that of the 2011 robots, as the large 50W motors do not permit such broad drive module as seen in the 2008 fleet.</li><br />
</ol><br />
<br />
== Secondary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The gears for the drivetrain are manufactured in-house on either the laser cutter, waterjet cutter, or injection molding machine</li><br />
</ol><br />
<br />
<br />
<br />
= Testing and Prototyping =<br />
<br />
== Waterjet ==<br />
<br />
The two main materials cut via the waterjet have been aluminum 6061 and mild steel. For these material, we modeled a 1"x2" rectangle and cut it out to determine understand the tolerances of the waterjet process. By understanding the taper produced by the waterjet, we could account for that by using the tilting capability of the waterjet. The results are below.<br />
<br />
=== Steel ===<br />
<br />
Thickness - 0.117" thick<br />
<br />
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | '''Trial 1'''<br/><br />
| style="text-align: center" | '''Trial 2'''<br/><br />
| style="text-align: center" | '''Zero-Taper Attempt'''<br/><br />
|-<br />
| Waterjet set thickness<br/><br />
| style="text-align: center" | 0.117"<br />
| style="text-align: center" | 0.130"<br />
| style="text-align: center" | 0.117"<br/><br />
|-<br />
| Taper compensation? (Yes/No)<br/><br />
| style="text-align: center" | No<br />
| style="text-align: center" | No<br />
| style="text-align: center" | Yes<br/><br />
|-<br />
| Estimated time to cut (minutes)<br/><br />
| style="text-align: center" | 0.583<br />
| style="text-align: center" | 0.636<br />
| style="text-align: center" | 0.938<br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br/><br />
| style="text-align: center" | 0.9937<br />
| style="text-align: center" | 0.9877<br />
| style="text-align: center" | 0.9945<br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br/><br />
| style="text-align: center" | 1.0016<br />
| style="text-align: center" | 1.0002<br />
| style="text-align: center" | 0.9931<br />
|-<br />
| Resulting Taper (degrees)<br/><br />
| style="text-align: center" | 1.93<br/><br />
| style="text-align: center" | 6.25<br />
| style="text-align: center" | <u>'''0.342'''</u><br/><br />
|}<br />
<br />
As can be seen, through some basic computation, we were able to significantly reduce the draft encountered in the waterjet process.<br />
<br />
Estimated time for cutting one of the motor gears: 1.6 minutes<br />
<br />
=== Aluminum ===<br />
<br />
Thickness - 0.125" thick<br />
<br />
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
|-<br />
| Waterjet set thickness<br />
| <br/><br />
| <br/><br />
|-<br />
| Taper compensation? (Yes/No)<br />
| <br/><br />
| <br/><br />
|-<br />
| Estimated time to cut (minutes)<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Resulting Taper (degrees)<br />
| <br/><br />
| <br/><br />
|}<br />
<br />
== Laser Cutter ==<br />
<br />
Laser cutters are great machines for cutting a variety of materials, primarily plastics and woods. The lack of setup overhead and cleanliness of the process makes it a more preferred process when compared to the waterjet or mill. However, metals cannot be cut on this machine - only etched.<br />
<br />
Specifically, we have access on-campus to a variety of laser cutters. The most common ones that we use are Trotec Speedy 300 laser cutters (http://www.troteclaser.com/en-US/Laser-Machines/Mid-Size/Pages/Speedy300.aspx). There is 1 machine at the MRDC that is 45 Watts, and 2 more that are 120 Watts.<br />
<br />
==== Delrin/Acetal ====<br />
<br />
Our primary material to laser cut was delrin. Delrin exhibits nice properties in terms of strength and smoothness. It also cuts nicely when the proper settings are determined.<br />
<br />
*Special care should be taken when cutting delrin. The cutting process produces formaldehyde gas. Additionally, the material burns with a fairly colorless flame.<br />
<br />
===== Cut Settings =====<br />
<br />
In short, we did 25 high power, slow passes in etch mode on the laser. This was followed up with 2 cut passes at a relatively low speed. Below are the settings we used to cut the delrin gears with reasonable accuracy.<br />
<br />
{| style="width: 212px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="width: 158px" | Etch/Cut?<br/><br />
| style="width: 41px" | Etch<br />
|-<br />
| style="width: 158px" | Line Thickness<br/><br />
| style="width: 41px" | 0.001"<br />
|-<br />
| style="width: 158px" | Power<br/><br />
| style="width: 41px" | 90<br />
|-<br />
| style="width: 158px" | Speed<br />
| style="width: 41px" | 4.5<br />
|-<br />
| style="width: 158px" | PPI/Hz<br />
| style="width: 41px" | 1000<br />
|-<br />
| style="width: 158px" | Passes<br />
| style="width: 41px" | 25<br />
|-<br />
| style="width: 158px" | Lens (Black/Red/Blue)<br />
| style="width: 41px" | Black<br />
|}<br />
<br />
This was followed by a cut at the following settings:<br />
<br />
{| style="width: 222px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="width: 159px" | Etch/Cut?<br />
| style="width: 50px" | Cut<br />
|-<br />
| style="width: 159px" | Line Thickness<br />
| style="width: 50px" | Vector<br />
|-<br />
| style="width: 159px" | Power<br />
| style="width: 50px" | 90<br />
|-<br />
| style="width: 159px" | Speed<br />
| style="width: 50px" | 6<br />
|-<br />
| style="width: 159px" | PPI/Hz<br />
| style="width: 50px" | 1000<br />
|-<br />
| style="width: 159px" | Passes<br />
| style="width: 50px" | 2<br />
|-<br />
| style="width: 159px" | Lens (Black/Red/Blue<br />
| style="width: 50px" | Black<br/><br />
|}<br />
<br />
It is likely very possible to cut the gears without as many passes. We hypothesize that increasing the PPI/Hz may help to fully cut all edges of the material so that it is fully removed without the final 2 cut passes.</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13843RC15Motors&Gears2015-01-12T01:48:14Z<p>EJones: </p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from&nbsp;[http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.<br />
<br />
= Background =<br />
<br />
== 2008 Robot Fleet ==<br />
<br />
The 2008 fleet of robots utilize a 30W Maxon Motor. Power was transmitted through a spur gear fixed to the shaft. This spur gear is held in place by a set screw that was set onto a flat grinded onto the shaft. There are no encoders on these robots.<br />
<br />
=== Performance ===<br />
<br />
These motors perform fine to this day (several years later). However, the lack of encoders makes it difficult to control the robots with any degree of precision.<br />
<br />
== 2011 Robot Fleet ==<br />
<br />
The 2011 fleet of robots utilize the same 30W Maxon Motor. Power was transmitted through a spur gear built into the motor shaft. The custom shafts were outsourced, and were effectively pinion wire that was turned down on a lathe to have appropriate sizing for:<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Pressing the shaft into the brushless motor shell</li><br />
<li>Pressing an encoder wheel onto the end of the shaft</li><br />
<li>Terminating the shaft such that the encoder housing could be capped and kept undisturbed from outside elements</li><br />
</ol><br />
<br />
=== Performance ===<br />
<br />
These motors perform extremely poorly due to the in-house manipulation. Due to errors during the team's manufacturing process in previous years, the brushless motor shell can slip on the custom shaft (i.e. the press fit is not strong enough to prevent slip), thereby degrading power transmission. This was rectified to an extent by epoxying the shaft onto the shell. However, this process is messy, inconsistent and sometimes results in deformation of components when assembled, thereby degrading the motors even further.&nbsp;<br />
<br />
The 2011 robots suffer from hall faults due the misalignment of components, and the fleet is largely unusable due to these problems. However, the encoders do prove to be useful if the robot has little to no motor issues.<br />
<br />
= Requirements =<br />
<br />
The motors and drive gears of the 2015 robot fleet is intended combine the good aspects of both the 2008 and 2011 fleets, without any of the problems. These requirements are as follows:<br />
<br />
== Primary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The team should not have to disassemble the motors in order to assemble the drivetrain. (The 2011 robots required a custom shaft, which required pressing combing apart and then reassembling. This results in degraded performance due to a variety of issues).</li><br />
<li>No epoxy to be used anywhere in the process</li><br />
<li>Any motor shaft manipulation should be able to be done safely and easily on in-house equipment</li><br />
<li>Compact design following that of the 2011 robots, as the large 50W motors do not permit such broad drive module as seen in the 2008 fleet.</li><br />
</ol><br />
<br />
== Secondary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The gears for the drivetrain are manufactured in-house on either the laser cutter, waterjet cutter, or injection molding machine</li><br />
</ol><br />
<br />
<br />
<br />
= Testing and Prototyping =<br />
<br />
== Waterjet ==<br />
<br />
The two main materials cut via the waterjet have been aluminum 6061 and mild steel. For these material, we modeled a 1"x2" rectangle and cut it out to determine understand the tolerances of the waterjet process. By understanding the taper produced by the waterjet, we could account for that by using the tilting capability of the waterjet. The results are below:<br />
<br />
=== Steel ===<br />
<br />
Thickness - 0.117" thick<br />
<br />
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="text-align: center" | <br/><br />
| style="text-align: center" | '''Trial 1'''<br/><br />
| style="text-align: center" | '''Trial 2'''<br/><br />
| style="text-align: center" | '''Zero-Taper Attempt'''<br/><br />
|-<br />
| Waterjet set thickness<br/><br />
| style="text-align: center" | 0.117"<br />
| style="text-align: center" | 0.130"<br />
| style="text-align: center" | 0.117"<br/><br />
|-<br />
| Taper compensation? (Yes/No)<br/><br />
| style="text-align: center" | No<br />
| style="text-align: center" | No<br />
| style="text-align: center" | Yes<br/><br />
|-<br />
| Estimated time to cut (minutes)<br/><br />
| style="text-align: center" | 0.583<br />
| style="text-align: center" | 0.636<br />
| style="text-align: center" | 0.938<br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br/><br />
| style="text-align: center" | 0.9937<br />
| style="text-align: center" | 0.9877<br />
| style="text-align: center" | 0.9945<br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br/><br />
| style="text-align: center" | 1.0016<br />
| style="text-align: center" | 1.0002<br />
| style="text-align: center" | 0.9931<br />
|-<br />
| Resulting Taper (degrees)<br/><br />
| style="text-align: center" | 1.93<br/><br />
| style="text-align: center" | 6.25<br />
| style="text-align: center" | <u>'''0.342'''</u><br/><br />
|}<br />
<br />
As can be seen, through some basic computation, we were able to significantly reduce the draft encountered in the waterjet process.<br />
<br />
Estimated time for cutting one of the motor gears: 1.6 minutes<br />
<br />
=== Aluminum ===<br />
<br />
Thickness - 0.125" thick<br />
<br />
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
|-<br />
| Waterjet set thickness<br />
| <br/><br />
| <br/><br />
|-<br />
| Taper compensation? (Yes/No)<br />
| <br/><br />
| <br/><br />
|-<br />
| Estimated time to cut (minutes)<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Resulting Taper (degrees)<br />
| <br/><br />
| <br/><br />
|}<br />
<br />
== Laser Cutter ==<br />
<br />
Laser cutters are great machines for cutting a variety of materials, primarily plastics and woods. The lack of setup overhead and cleanliness of the process makes it a more preferred process when compared to the waterjet or mill. However, metals cannot be cut on this machine - only etched.<br />
<br />
Specifically, we have access on-campus to a variety of laser cutters. The most common ones that we use are Trotec Speedy 300 laser cutters (http://www.troteclaser.com/en-US/Laser-Machines/Mid-Size/Pages/Speedy300.aspx). There is 1 machine at the MRDC that is 45 Watts, and 2 more that are 120 Watts.<br />
<br />
==== Delrin/Acetal ====<br />
<br />
Our primary material to laser cut was delrin. Delrin exhibits nice properties in terms of strength and smoothness. It also cuts nicely when the proper settings are determined.<br />
<br />
*Special care should be taken when cutting delrin. The cutting process produces formaldehyde gas. Additionally, the material burns with a fairly colorless flame.<br />
<br />
===== Cut Settings =====<br />
<br />
In short, we did 25 high power, slow passes in etch mode on the laser. This was followed up with 2 cut passes at a relatively low speed. Below are the settings we used to cut the delrin gears with reasonable accuracy.<br />
<br />
{| style="width: 212px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="width: 158px" | Etch/Cut?<br/><br />
| style="width: 41px" | Etch<br />
|-<br />
| style="width: 158px" | Line Thickness<br/><br />
| style="width: 41px" | 0.001"<br />
|-<br />
| style="width: 158px" | Power<br/><br />
| style="width: 41px" | 90<br />
|-<br />
| style="width: 158px" | Speed<br />
| style="width: 41px" | 4.5<br />
|-<br />
| style="width: 158px" | PPI/Hz<br />
| style="width: 41px" | 1000<br />
|-<br />
| style="width: 158px" | Passes<br />
| style="width: 41px" | 25<br />
|-<br />
| style="width: 158px" | Lens (Black/Red/Blue)<br />
| style="width: 41px" | Black<br />
|}<br />
<br />
This was followed by a cut at the following settings:<br />
<br />
{| style="width: 222px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="width: 159px" | Etch/Cut?<br />
| style="width: 50px" | Cut<br />
|-<br />
| style="width: 159px" | Line Thickness<br />
| style="width: 50px" | Vector<br />
|-<br />
| style="width: 159px" | Power<br />
| style="width: 50px" | 90<br />
|-<br />
| style="width: 159px" | Speed<br />
| style="width: 50px" | 6<br />
|-<br />
| style="width: 159px" | PPI/Hz<br />
| style="width: 50px" | 1000<br />
|-<br />
| style="width: 159px" | Passes<br />
| style="width: 50px" | 2<br />
|-<br />
| style="width: 159px" | Lens (Black/Red/Blue<br />
| style="width: 50px" | Black<br/><br />
|}<br />
<br />
It is likely very possible to cut the gears without as many passes. We hypothesize that increasing the PPI/Hz may help to fully cut all edges of the material so that it is fully removed without the final 2 cut passes.</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13842RC15Motors&Gears2015-01-12T01:27:16Z<p>EJones: </p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from&nbsp;[http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.<br />
<br />
= Background =<br />
<br />
== 2008 Robot Fleet ==<br />
<br />
The 2008 fleet of robots utilize a 30W Maxon Motor. Power was transmitted through a spur gear fixed to the shaft. This spur gear is held in place by a set screw that was set onto a flat grinded onto the shaft. There are no encoders on these robots.<br />
<br />
=== Performance ===<br />
<br />
These motors perform fine to this day (several years later). However, the lack of encoders makes it difficult to control the robots with any degree of precision.<br />
<br />
== 2011 Robot Fleet ==<br />
<br />
The 2011 fleet of robots utilize the same 30W Maxon Motor. Power was transmitted through a spur gear built into the motor shaft. The custom shafts were outsourced, and were effectively pinion wire that was turned down on a lathe to have appropriate sizing for:<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Pressing the shaft into the brushless motor shell</li><br />
<li>Pressing an encoder wheel onto the end of the shaft</li><br />
<li>Terminating the shaft such that the encoder housing could be capped and kept undisturbed from outside elements</li><br />
</ol><br />
<br />
=== Performance ===<br />
<br />
These motors perform extremely poorly due to the in-house manipulation. Due to errors during the team's manufacturing process in previous years, the brushless motor shell can slip on the custom shaft (i.e. the press fit is not strong enough to prevent slip), thereby degrading power transmission. This was rectified to an extent by epoxying the shaft onto the shell. However, this process is messy, inconsistent and sometimes results in deformation of components when assembled, thereby degrading the motors even further.&nbsp;<br />
<br />
The 2011 robots suffer from hall faults due the misalignment of components, and the fleet is largely unusable due to these problems. However, the encoders do prove to be useful if the robot has little to no motor issues.<br />
<br />
= Requirements =<br />
<br />
The motors and drive gears of the 2015 robot fleet is intended combine the good aspects of both the 2008 and 2011 fleets, without any of the problems. These requirements are as follows:<br />
<br />
== Primary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The team should not have to disassemble the motors in order to assemble the drivetrain. (The 2011 robots required a custom shaft, which required pressing combing apart and then reassembling. This results in degraded performance due to a variety of issues).</li><br />
<li>No epoxy to be used anywhere in the process</li><br />
<li>Any motor shaft manipulation should be able to be done safely and easily on in-house equipment</li><br />
<li>Compact design following that of the 2011 robots, as the large 50W motors do not permit such broad drive module as seen in the 2008 fleet.</li><br />
</ol><br />
<br />
== Secondary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The gears for the drivetrain are manufactured in-house on either the laser cutter, waterjet cutter, or injection molding machine</li><br />
</ol><br />
<br />
<br />
<br />
= Testing and Prototyping =<br />
<br />
== Waterjet ==<br />
<br />
The two main materials cut via the waterjet have been aluminum 6061 and mild steel. For aluminum, we tested 1"x2" squares to understand the taper produced by the waterjet cutting process. The results are below:<br />
<br />
=== Steel ===<br />
<br />
Thickness - 0.117" thick<br />
<br />
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
| Trial 3<br />
|-<br />
| Waterjet set thickness<br />
| 0.117"<br />
| 0.130"<br />
| 0.117"<br />
|-<br />
| Taper compensation? (Yes/No)<br />
| No<br />
| No<br />
| Yes<br />
|-<br />
| Estimated time to cut (minutes)<br />
| 0.583<br />
| 0.636<br />
| 0.938<br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| 0.9937<br />
| 0.9877<br />
| 0.9945<br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| 1.0016<br />
| 1.0002<br />
| 0.9931<br />
|-<br />
| Resulting Taper (degrees)<br />
| 1.93<br />
| 6.25<br />
| <u>'''0.342'''</u><br/><br />
|}<br />
<br />
Estimated time for cutting one of the motor gears: 1.6 minutes<br />
<br />
=== Aluminum ===<br />
<br />
Thickness - 0.125" thick<br />
<br />
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
|-<br />
| Waterjet set thickness<br />
| <br/><br />
| <br/><br />
|-<br />
| Taper compensation? (Yes/No)<br />
| <br/><br />
| <br/><br />
|-<br />
| Estimated time to cut (minutes)<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Resulting Taper (degrees)<br />
| <br/><br />
| <br/><br />
|}<br />
<br />
== Laser Cutter ==<br />
<br />
Laser cutters are great machines for cutting a variety of materials, primarily plastics and woods. The lack of setup overhead and cleanliness of the process makes it a more preferred process when compared to the waterjet or mill. However, metals cannot be cut on this machine - only etched.<br />
<br />
Specifically, we have access on-campus to a variety of laser cutters. The most common ones that we use are Trotec Speedy 300 laser cutters (http://www.troteclaser.com/en-US/Laser-Machines/Mid-Size/Pages/Speedy300.aspx). There is 1 machine at the MRDC that is 45 Watts, and 2 more that are 120 Watts.<br />
<br />
==== Delrin/Acetal ====<br />
<br />
Our primary material to laser cut was delrin. Delrin exhibits nice properties in terms of strength and smoothness. It also cuts nicely when the proper settings are determined.<br />
<br />
*Special care should be taken when cutting delrin. The cutting process produces formaldehyde gas. Additionally, the material burns with a fairly colorless flame.<br />
<br />
===== Cut Settings =====<br />
<br />
In short, we did 25 high power, slow passes in etch mode on the laser. This was followed up with 2 cut passes at a relatively low speed. Below are the settings we used to cut the delrin gears with reasonable accuracy.<br />
<br />
{| style="width: 212px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="width: 158px" | Etch/Cut?<br/><br />
| style="width: 41px" | Etch<br />
|-<br />
| style="width: 158px" | Line Thickness<br/><br />
| style="width: 41px" | 0.001"<br />
|-<br />
| style="width: 158px" | Power<br/><br />
| style="width: 41px" | 90<br />
|-<br />
| style="width: 158px" | Speed<br />
| style="width: 41px" | 4.5<br />
|-<br />
| style="width: 158px" | PPI/Hz<br />
| style="width: 41px" | 1000<br />
|-<br />
| style="width: 158px" | Passes<br />
| style="width: 41px" | 25<br />
|-<br />
| style="width: 158px" | Lens (Black/Red/Blue)<br />
| style="width: 41px" | Black<br />
|}<br />
<br />
This was followed by a cut at the following settings:<br />
<br />
{| style="width: 222px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="width: 159px" | Etch/Cut?<br />
| style="width: 50px" | Cut<br />
|-<br />
| style="width: 159px" | Line Thickness<br />
| style="width: 50px" | Vector<br />
|-<br />
| style="width: 159px" | Power<br />
| style="width: 50px" | 90<br />
|-<br />
| style="width: 159px" | Speed<br />
| style="width: 50px" | 6<br />
|-<br />
| style="width: 159px" | PPI/Hz<br />
| style="width: 50px" | 1000<br />
|-<br />
| style="width: 159px" | Passes<br />
| style="width: 50px" | 2<br />
|-<br />
| style="width: 159px" | Lens (Black/Red/Blue<br />
| style="width: 50px" | Black<br/><br />
|}<br />
<br />
It is likely very possible to cut the gears without as many passes. We hypothesize that increasing the PPI/Hz may help to fully cut all edges of the material so that it is fully removed without the final 2 cut passes.</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13841RC15Motors&Gears2015-01-12T00:58:02Z<p>EJones: </p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from&nbsp;[http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.<br />
<br />
= Background =<br />
<br />
== 2008 Robot Fleet ==<br />
<br />
The 2008 fleet of robots utilize a 30W Maxon Motor. Power was transmitted through a spur gear fixed to the shaft. This spur gear is held in place by a set screw that was set onto a flat grinded onto the shaft. There are no encoders on these robots.<br />
<br />
=== Performance ===<br />
<br />
These motors perform fine to this day (several years later). However, the lack of encoders makes it difficult to control the robots with any degree of precision.<br />
<br />
== 2011 Robot Fleet ==<br />
<br />
The 2011 fleet of robots utilize the same 30W Maxon Motor. Power was transmitted through a spur gear built into the motor shaft. The custom shafts were outsourced, and were effectively pinion wire that was turned down on a lathe to have appropriate sizing for:<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Pressing the shaft into the brushless motor shell</li><br />
<li>Pressing an encoder wheel onto the end of the shaft</li><br />
<li>Terminating the shaft such that the encoder housing could be capped and kept undisturbed from outside elements</li><br />
</ol><br />
<br />
=== Performance ===<br />
<br />
These motors perform extremely poorly due to the in-house manipulation. Due to errors during the team's manufacturing process in previous years, the brushless motor shell can slip on the custom shaft (i.e. the press fit is not strong enough to prevent slip), thereby degrading power transmission. This was rectified to an extent by epoxying the shaft onto the shell. However, this process is messy, inconsistent and sometimes results in deformation of components when assembled, thereby degrading the motors even further.&nbsp;<br />
<br />
The 2011 robots suffer from hall faults due the misalignment of components, and the fleet is largely unusable due to these problems. However, the encoders do prove to be useful if the robot has little to no motor issues.<br />
<br />
= Requirements =<br />
<br />
The motors and drive gears of the 2015 robot fleet is intended combine the good aspects of both the 2008 and 2011 fleets, without any of the problems. These requirements are as follows:<br />
<br />
== Primary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The team should not have to disassemble the motors in order to assemble the drivetrain. (The 2011 robots required a custom shaft, which required pressing combing apart and then reassembling. This results in degraded performance due to a variety of issues).</li><br />
<li>No epoxy to be used anywhere in the process</li><br />
<li>Any motor shaft manipulation should be able to be done safely and easily on in-house equipment</li><br />
<li>Compact design following that of the 2011 robots, as the large 50W motors do not permit such broad drive module as seen in the 2008 fleet.</li><br />
</ol><br />
<br />
== Secondary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The gears for the drivetrain are manufactured in-house on either the laser cutter, waterjet cutter, or injection molding machine</li><br />
</ol><br />
<br />
<br />
<br />
= Testing and Prototyping =<br />
<br />
== Waterjet ==<br />
<br />
The two main materials cut via the waterjet have been aluminum 6061 and mild steel. For aluminum, we tested 1"x2" squares to understand the taper produced by the waterjet cutting process. The results are below:<br />
<br />
=== Steel ===<br />
<br />
Thickness - 0.117" thick<br />
<br />
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
| Trial 3<br />
|-<br />
| Waterjet set thickness<br />
| 0.117"<br />
| 0.130"<br />
| 0.117"<br />
|-<br />
| Taper compensation? (Yes/No)<br />
| No<br />
| No<br />
| Yes<br />
|-<br />
| Estimated time to cut (minutes)<br />
| 0.583<br />
| 0.636<br />
| 0.938<br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| 0.9937<br />
| 0.9877<br />
| 0.9945<br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| 1.0016<br />
| 1.0002<br />
| 0.9931<br />
|-<br />
| Resulting Taper (degrees)<br />
| 1.93<br />
| 6.25<br />
| <u>'''0.342'''</u><br/><br />
|}<br />
<br />
Estimated time for cutting one of the motor gears: 1.6 minutes<br />
<br />
=== Aluminum ===<br />
<br />
Thickness - 0.125" thick<br />
<br />
{| style="width: 500px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
|-<br />
| Waterjet set thickness<br />
| <br/><br />
| <br/><br />
|-<br />
| Taper compensation? (Yes/No)<br />
| <br/><br />
| <br/><br />
|-<br />
| Estimated time to cut (minutes)<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Resulting Taper (degrees)<br />
| <br/><br />
| <br/><br />
|}<br />
<br />
== Laser Cutter ==<br />
<br />
Laser cutters are great machines for cutting a variety of materials, primarily plastics and woods. There is little overhead for setup and it is a fairly clean process. Specifically,<br />
<br />
Below are the settings we used to cut the delrin gears with reasonable accuracy.<br />
<br />
==== Our primary material to laser cut was delrin. Delrin exhibits nice properties in terms of strength and smoothness. It also cuts nicely when the proper settings are determined. ====<br />
<br />
==== Delrin ====<br />
<br />
{| style="width: 212px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="width: 158px" | Etch/Cut?<br />
| style="width: 41px" | Etch<br />
|-<br />
| style="width: 158px" | Line Thickness (if any)<br />
| style="width: 41px" | 0.001"<br />
|-<br />
| style="width: 158px" | Power<br />
| style="width: 41px" | 90<br />
|-<br />
| style="width: 158px" | Speed<br />
| style="width: 41px" | 4.5<br />
|-<br />
| style="width: 158px" | PPI/Hz<br />
| style="width: 41px" | 1000<br />
|-<br />
| style="width: 158px" | Passes<br />
| style="width: 41px" | 25<br />
|-<br />
| style="width: 158px" | Lens (Black/Red/Blue)<br />
| style="width: 41px" | Black<br />
|}<br />
<br />
<br />
<br />
This was followed by a cut at the following settings:<br />
<br />
{| style="width: 222px" border="1" cellpadding="1" cellspacing="1"<br />
|-<br />
| style="width: 159px" | Etch/Cut?<br />
| style="width: 50px" | Cut<br />
|-<br />
| style="width: 159px" | Line Thickness<br />
| style="width: 50px" | Vector<br />
|-<br />
| style="width: 159px" | Power<br />
| style="width: 50px" | 90<br />
|-<br />
| style="width: 159px" | Speed<br />
| style="width: 50px" | 6<br />
|-<br />
| style="width: 159px" | PPI/Hz<br />
| style="width: 50px" | 1000<br />
|-<br />
| style="width: 159px" | Passes<br />
| style="width: 50px" | 2<br />
|-<br />
| style="width: 159px" | Lens (Black/Red/Blue<br />
| style="width: 50px" | Black<br />
|}<br />
<br />
The two cut lines in the end are necessary to fully remove the gear. We speculate that's because the etching process does a coarser number of pulses. We hypothesize that increasing the PPI/Hz may help prevent edges that remain on the part afterwards that require cutting.</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13840RC15Motors&Gears2015-01-11T22:22:06Z<p>EJones: </p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from&nbsp;[http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.<br />
<br />
= Background =<br />
<br />
== 2008 Robot Fleet ==<br />
<br />
The 2008 fleet of robots utilize a 30W Maxon Motor. Power was transmitted through a spur gear fixed to the shaft. This spur gear is held in place by a set screw that was set onto a flat grinded onto the shaft. There are no encoders on these robots.<br />
<br />
=== Performance ===<br />
<br />
These motors perform fine to this day (several years later). However, the lack of encoders makes it difficult to control the robots with any degree of precision.<br />
<br />
== 2011 Robot Fleet ==<br />
<br />
The 2011 fleet of robots utilize the same 30W Maxon Motor. Power was transmitted through a spur gear built into the motor shaft. The custom shafts were outsourced, and were effectively pinion wire that was turned down on a lathe to have appropriate sizing for:<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Pressing the shaft into the brushless motor shell</li><br />
<li>Pressing an encoder wheel onto the end of the shaft</li><br />
<li>Terminating the shaft such that the encoder housing could be capped and kept undisturbed from outside elements</li><br />
</ol><br />
<br />
=== Performance ===<br />
<br />
These motors perform extremely poorly due to the in-house manipulation. Due to errors during the team's manufacturing process in previous years, the brushless motor shell can slip on the custom shaft (i.e. the press fit is not strong enough to prevent slip), thereby degrading power transmission. This was rectified to an extent by epoxying the shaft onto the shell. However, this process is messy, inconsistent and sometimes results in deformation of components when assembled, thereby degrading the motors even further.&nbsp;<br />
<br />
The 2011 robots suffer from hall faults due the misalignment of components, and the fleet is largely unusable due to these problems. However, the encoders do prove to be useful if the robot has little to no motor issues.<br />
<br />
= Requirements =<br />
<br />
The motors and drive gears of the 2015 robot fleet is intended combine the good aspects of both the 2008 and 2011 fleets, without any of the problems. These requirements are as follows:<br />
<br />
== Primary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The team should not have to disassemble the motors in order to assemble the drivetrain. (The 2011 robots required a custom shaft, which required pressing combing apart and then reassembling. This results in degraded performance due to a variety of issues).</li><br />
<li>No epoxy to be used anywhere in the process</li><br />
<li>Any motor shaft manipulation should be able to be done safely and easily on in-house equipment</li><br />
<li>Compact design following that of the 2011 robots, as the large 50W motors do not permit such broad drive module as seen in the 2008 fleet.</li><br />
</ol><br />
<br />
== Secondary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The gears for the drivetrain are manufactured in-house on either the laser cutter, waterjet cutter, or injection molding machine</li><br />
</ol><br />
<br />
<br />
<br />
== Testing and Prototyping Gears ==<br />
<br />
=== Waterjet ===<br />
<br />
The two main materials cut via the waterjet have been aluminum 6061 and mild steel. For aluminum, we tested 1"x2" squares to understand the taper produced by the waterjet cutting process. The results are below:<br />
<br />
==== Steel - 0.117" thick ====<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
| Trial 3<br />
|-<br />
| Waterjet set thickness<br />
| 0.117"<br />
| 0.130"<br />
| 0.117"<br />
|-<br />
| Taper compensation? (Yes/No)<br />
| No<br />
| No<br />
| Yes<br />
|-<br />
| Estimated time to cut (minutes)<br />
| 0.583<br />
| 0.636<br />
| 0.938<br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| 0.9937<br />
| 0.9877<br />
| 0.9945<br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| 1.0016<br />
| 1.0002<br />
| 0.9931<br />
|-<br />
| Resulting Taper (degrees)<br />
| 1.93<br />
| 6.25<br />
| <u>'''0.342'''</u><br />
|}<br />
<br />
<br />
<br />
Estimated time for cutting one of the motor gears: 1.6 minutes<br />
<br />
==== Aluminum - 0.125" thick ====<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
|-<br />
| Waterjet set thickness<br />
| <br/><br />
| <br/><br />
|-<br />
| Taper compensation? (Yes/No)<br />
| <br/><br />
| <br/><br />
|-<br />
| Estimated time to cut (minutes)<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Resulting Taper (degrees)<br />
| <br/><br />
| <br/><br />
|}<br />
<br />
=== Laser Cutter ===<br />
<br />
Below are the settings we used to cut the delrin gears with reasonable accuracy.<br />
<br />
==== Our primary material to laser cut was delrin. That's because delrin exhibits nice properties in terms of strength and smoothness. It also cuts nicely when the proper settings are determined. ====<br />
<br />
==== Delrin ====<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 212px;"<br />
|-<br />
| style="width: 158px;" | Etch/Cut?<br />
| style="width: 41px;" | Etch<br />
|-<br />
| style="width: 158px;" | Line Thickness (if any)<br />
| style="width: 41px;" | 0.001"<br />
|-<br />
| style="width: 158px;" | Power<br />
| style="width: 41px;" | 90<br />
|-<br />
| style="width: 158px;" | Speed<br />
| style="width: 41px;" | 4.5<br />
|-<br />
| style="width: 158px;" | PPI/Hz<br />
| style="width: 41px;" | 1000<br />
|-<br />
| style="width: 158px;" | Passes<br />
| style="width: 41px;" | 25<br />
|-<br />
| style="width: 158px;" | Lens (Black/Red/Blue)<br />
| style="width: 41px;" | Black<br />
|}<br />
<br />
<br />
<br />
This was followed by a cut at the following settings:<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 222px;"<br />
|-<br />
| style="width: 159px;" | Etch/Cut?<br />
| style="width: 50px;" | Cut<br />
|-<br />
| style="width: 159px;" | Line Thickness<br />
| style="width: 50px;" | Vector<br />
|-<br />
| style="width: 159px;" | Power<br />
| style="width: 50px;" | 90<br />
|-<br />
| style="width: 159px;" | Speed<br />
| style="width: 50px;" | 6<br />
|-<br />
| style="width: 159px;" | PPI/Hz<br />
| style="width: 50px;" | 1000<br />
|-<br />
| style="width: 159px;" | Passes<br />
| style="width: 50px;" | 2<br />
|-<br />
| style="width: 159px;" | Lens (Black/Red/Blue<br />
| style="width: 50px;" | Black<br />
|}<br />
<br />
The two cut lines in the end are necessary to fully remove the gear. We speculate that's because the etching process does a coarser number of pulses. We hypothesize that increasing the PPI/Hz may help prevent edges that remain on the part afterwards that require cutting.</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13839RC15Motors&Gears2015-01-11T22:21:51Z<p>EJones: </p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from&nbsp;[http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.<br />
<br />
= Background =<br />
<br />
== 2008 Robot Fleet ==<br />
<br />
The 2008 fleet of robots utilize a 30W Maxon Motor. Power was transmitted through a spur gear fixed to the shaft. This spur gear is held in place by a set screw that was set onto a flat grinded onto the shaft. There are no encoders on these robots.<br />
<br />
=== Performance ===<br />
<br />
These motors perform fine to this day (several years later). However, the lack of encoders makes it difficult to control the robots with any degree of precision.<br />
<br />
== 2011 Robot Fleet ==<br />
<br />
The 2011 fleet of robots utilize the same 30W Maxon Motor. Power was transmitted through a spur gear built into the motor shaft. The custom shafts were outsourced, and were effectively pinion wire that was turned down on a lathe to have appropriate sizing for:<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Pressing the shaft into the brushless motor shell</li><br />
<li>Pressing an encoder wheel onto the end of the shaft</li><br />
<li>Terminating the shaft such that the encoder housing could be capped and kept undisturbed from outside elements</li><br />
</ol><br />
<br />
=== Performance ===<br />
<br />
These motors perform extremely poorly due to the in-house manipulation. Due to errors during the team's manufacturing process in previous years, the brushless motor shell can slip on the custom shaft (i.e. the press fit is not strong enough to prevent slip), thereby degrading power transmission. This was rectified to an extent by epoxying the shaft onto the shell. However, this process is messy, inconsistent and sometimes results in deformation of components when assembled, thereby degrading the motors even further.&nbsp;<br />
<br />
The 2011 robots suffer from hall faults due the misalignment of components, and the fleet is largely unusable due to these problems. However, the encoders do prove to be useful if the robot has little to no motor issues.<br />
<br />
= Requirements =<br />
<br />
The motors and drive gears of the 2015 robot fleet is intended combine the good aspects of both the 2008 and 2011 fleets, without any of the problems. These requirements are as follows:<br />
<br />
== Primary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The team should not have to disassemble the motors in order to assemble the drivetrain. (The 2011 robots required a custom shaft, which required pressing combing apart and then reassembling. This results in degraded performance due to a variety of issues).</li><br />
<li>No epoxy to be used anywhere in the process</li><br />
<li>Any motor shaft manipulation should be able to be done safely and easily on in-house equipment</li><br />
<li>Compact design following that of the 2011 robots, as the large 50W motors do not permit such broad drive module as seen in the 2008 fleet.</li><br />
</ol><br />
<br />
== Secondary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The gears for the drivetrain are manufactured in-house on either the laser cutter, waterjet cutter, or injection molding machine</li><br />
</ol><br />
<br />
<br />
<br />
== Testing and Prototyping Gears ==<br />
<br />
=== Waterjet ===<br />
<br />
The two main materials cut via the waterjet have been aluminum 6061 and mild steel. For aluminum, we tested 1"x2" squares to understand the taper produced by the waterjet cutting process. The results are below:<br />
<br />
==== Steel - 0.117" thick ====<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
| Trial 3<br />
|-<br />
| Waterjet set thickness<br />
| 0.117"<br />
| 0.130"<br />
| 0.117"<br />
|-<br />
| Taper compensation? (Yes/No)<br />
| No<br />
| No<br />
| Yes<br />
|-<br />
| Estimated time to cut (minutes)<br />
| 0.583<br />
| 0.636<br />
| 0.938<br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| 0.9937<br />
| 0.9877<br />
| 0.9945<br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| 1.0016<br />
| 1.0002<br />
| 0.9931<br />
|-<br />
| Resulting Taper (degrees)<br />
| 1.93<br />
| 6.25<br />
| <u>'''0.342'''</u><br />
|}<br />
<br />
<br />
<br />
Estimated time for cutting one of the motor gears: 1.6 minutes<br />
<br />
==== Aluminum - 0.125" thick ====<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
|-<br />
| Waterjet set thickness<br />
| <br/><br />
| <br/><br />
|-<br />
| Taper compensation? (Yes/No)<br />
| <br/><br />
| <br/><br />
|-<br />
| Estimated time to cut (minutes)<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Resulting Taper (degrees)<br />
| <br/><br />
| <br/><br />
|}<br />
<br />
=== Laser Cutter ===<br />
<br />
Below are the settings we used to cut the delrin gears with reasonable accuracy.<br />
<br />
==== Our primary material to laser cut was delrin. That's because delrin exhibits nice properties in terms of strength and smoothness. It also cuts nicely when the proper settings are determined. ====<br />
<br />
==== Delrin ====<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 212px;"<br />
|-<br />
| style="width: 158px;" | Etch/Cut?<br />
| style="width: 41px;" | Etch<br />
|-<br />
| style="width: 158px;" | Line Thickness (if any)<br />
| style="width: 41px;" | 0.001"<br />
|-<br />
| style="width: 158px;" | Power<br />
| style="width: 41px;" | 90<br />
|-<br />
| style="width: 158px;" | Speed<br />
| style="width: 41px;" | 4.5<br />
|-<br />
| style="width: 158px;" | PPI/Hz<br />
| style="width: 41px;" | 1000<br />
|-<br />
| style="width: 158px;" | Passes<br />
| style="width: 41px;" | 25<br />
|-<br />
| style="width: 158px;" | Lens (Black/Red/Blue)<br />
| style="width: 41px;" | Black<br />
|}<br />
<br />
<br />
<br />
This was followed by a cut at the following settings:<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"<br />
|-<br />
| Etch/Cut?<br />
| Cut<br />
|-<br />
| Line Thickness<br />
| Vector<br />
|-<br />
| Power<br />
| 90<br />
|-<br />
| Speed<br />
| 6<br />
|-<br />
| PPI/Hz<br />
| 1000<br />
|-<br />
| Passes<br />
| 2<br />
|-<br />
| Lens (Black/Red/Blue<br />
| Black<br />
|}<br />
<br />
The two cut lines in the end are necessary to fully remove the gear. We speculate that's because the etching process does a coarser number of pulses. We hypothesize that increasing the PPI/Hz may help prevent edges that remain on the part afterwards that require cutting.</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13838RC15Motors&Gears2015-01-11T20:10:38Z<p>EJones: </p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from&nbsp;[http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.<br />
<br />
= Background =<br />
<br />
== 2008 Robot Fleet ==<br />
<br />
The 2008 fleet of robots utilize a 30W Maxon Motor. Power was transmitted through a spur gear fixed to the shaft. This spur gear is held in place by a set screw that was set onto a flat grinded onto the shaft. There are no encoders on these robots.<br />
<br />
=== Performance ===<br />
<br />
These motors perform fine to this day (several years later). However, the lack of encoders makes it difficult to control the robots with any degree of precision.<br />
<br />
== 2011 Robot Fleet ==<br />
<br />
The 2011 fleet of robots utilize the same 30W Maxon Motor. Power was transmitted through a spur gear built into the motor shaft. The custom shafts were outsourced, and were effectively pinion wire that was turned down on a lathe to have appropriate sizing for:<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Pressing the shaft into the brushless motor shell</li><br />
<li>Pressing an encoder wheel onto the end of the shaft</li><br />
<li>Terminating the shaft such that the encoder housing could be capped and kept undisturbed from outside elements</li><br />
</ol><br />
<br />
=== Performance ===<br />
<br />
These motors perform extremely poorly due to the in-house manipulation. Due to errors during the team's manufacturing process in previous years, the brushless motor shell can slip on the custom shaft (i.e. the press fit is not strong enough to prevent slip), thereby degrading power transmission. This was rectified to an extent by epoxying the shaft onto the shell. However, this process is messy, inconsistent and sometimes results in deformation of components when assembled, thereby degrading the motors even further.&nbsp;<br />
<br />
The 2011 robots suffer from hall faults due the misalignment of components, and the fleet is largely unusable due to these problems. However, the encoders do prove to be useful if the robot has little to no motor issues.<br />
<br />
= Requirements =<br />
<br />
The motors and drive gears of the 2015 robot fleet is intended combine the good aspects of both the 2008 and 2011 fleets, without any of the problems. These requirements are as follows:<br />
<br />
== Primary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The team should not have to disassemble the motors in order to assemble the drivetrain. (The 2011 robots required a custom shaft, which required pressing combing apart and then reassembling. This results in degraded performance due to a variety of issues).</li><br />
<li>No epoxy to be used anywhere in the process</li><br />
<li>Any motor shaft manipulation should be able to be done safely and easily on in-house equipment</li><br />
<li>Compact design following that of the 2011 robots, as the large 50W motors do not permit such broad drive module as seen in the 2008 fleet.</li><br />
</ol><br />
<br />
== Secondary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The gears for the drivetrain are manufactured in-house on either the laser cutter, waterjet cutter, or injection molding machine</li><br />
</ol><br />
<br />
<br />
<br />
== Testing and Prototyping Gears ==<br />
<br />
=== Waterjet ===<br />
<br />
The two main materials cut via the waterjet have been aluminum 6061 and mild steel. For aluminum, we tested 1"x2" squares to understand the taper produced by the waterjet cutting process. The results are below:<br />
<br />
==== Steel - 0.117" thick ====<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
| Trial 3<br />
|-<br />
| Waterjet set thickness<br />
| 0.117"<br />
| 0.130"<br />
| 0.117"<br />
|-<br />
| Taper compensation? (Yes/No)<br />
| No<br />
| No<br />
| Yes<br />
|-<br />
| Estimated time to cut (minutes)<br />
| 0.583<br />
| 0.636<br />
| 0.938<br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| 0.9937<br />
| 0.9877<br />
| 0.9945<br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| 1.0016<br />
| 1.0002<br />
| 0.9931<br />
|-<br />
| Resulting Taper (degrees)<br />
| 1.93<br />
| 6.25<br />
| <u>'''0.342'''</u><br />
|}<br />
<br />
<br />
<br />
Estimated time for cutting one of the motor gears: 1.6 minutes<br />
<br />
==== Aluminum - 0.125" thick ====<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
|-<br />
| Waterjet set thickness<br />
| <br/><br />
| <br/><br />
|-<br />
| Taper compensation? (Yes/No)<br />
| <br/><br />
| <br/><br />
|-<br />
| Estimated time to cut (minutes)<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Resulting Taper (degrees)<br />
| <br/><br />
| <br/><br />
|}<br />
<br />
=== Laser Cutter ===<br />
<br />
Below are the settings we used to cut the delrin gears with reasonable accuracy.<br />
<br />
==== Delrin ====<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 212px;"<br />
|-<br />
| style="width: 158px;" | Etch/Cut?<br />
| style="width: 41px;" | Etch<br />
|-<br />
| style="width: 158px;" | Line Thickness (if any)<br />
| style="width: 41px;" | 0.001"<br />
|-<br />
| style="width: 158px;" | Power<br />
| style="width: 41px;" | 90<br />
|-<br />
| style="width: 158px;" | Speed<br />
| style="width: 41px;" | 4.5<br />
|-<br />
| style="width: 158px;" | PPI/Hz<br />
| style="width: 41px;" | 1000<br />
|-<br />
| style="width: 158px;" | Passes<br />
| style="width: 41px;" | 25<br />
|-<br />
| style="width: 158px;" | Lens (Black/Red/Blue)<br />
| style="width: 41px;" | Black<br />
|}</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13837RC15Motors&Gears2015-01-11T19:40:15Z<p>EJones: </p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from&nbsp;[http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.<br />
<br />
= Background =<br />
<br />
== 2008 Robot Fleet ==<br />
<br />
The 2008 fleet of robots utilize a 30W Maxon Motor. Power was transmitted through a spur gear fixed to the shaft. This spur gear is held in place by a set screw that was set onto a flat grinded onto the shaft. There are no encoders on these robots.<br />
<br />
=== Performance ===<br />
<br />
These motors perform fine to this day (several years later). However, the lack of encoders makes it difficult to control the robots with any degree of precision.<br />
<br />
== 2011 Robot Fleet ==<br />
<br />
The 2011 fleet of robots utilize the same 30W Maxon Motor. Power was transmitted through a spur gear built into the motor shaft. The custom shafts were outsourced, and were effectively pinion wire that was turned down on a lathe to have appropriate sizing for:<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Pressing the shaft into the brushless motor shell</li><br />
<li>Pressing an encoder wheel onto the end of the shaft</li><br />
<li>Terminating the shaft such that the encoder housing could be capped and kept undisturbed from outside elements</li><br />
</ol><br />
<br />
=== Performance ===<br />
<br />
These motors perform extremely poorly due to the in-house manipulation. Due to errors during the team's manufacturing process in previous years, the brushless motor shell can slip on the custom shaft (i.e. the press fit is not strong enough to prevent slip), thereby degrading power transmission. This was rectified to an extent by epoxying the shaft onto the shell. However, this process is messy, inconsistent and sometimes results in deformation of components when assembled, thereby degrading the motors even further.&nbsp;<br />
<br />
The 2011 robots suffer from hall faults due the misalignment of components, and the fleet is largely unusable due to these problems. However, the encoders do prove to be useful if the robot has little to no motor issues.<br />
<br />
= Requirements =<br />
<br />
The motors and drive gears of the 2015 robot fleet is intended combine the good aspects of both the 2008 and 2011 fleets, without any of the problems. These requirements are as follows:<br />
<br />
== Primary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The team should not have to disassemble the motors in order to assemble the drivetrain. (The 2011 robots required a custom shaft, which required pressing combing apart and then reassembling. This results in degraded performance due to a variety of issues).</li><br />
<li>No epoxy to be used anywhere in the process</li><br />
<li>Any motor shaft manipulation should be able to be done safely and easily on in-house equipment</li><br />
<li>Compact design following that of the 2011 robots, as the large 50W motors do not permit such broad drive module as seen in the 2008 fleet.</li><br />
</ol><br />
<br />
== Secondary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The gears for the drivetrain are manufactured in-house on either the laser cutter, waterjet cutter, or injection molding machine</li><br />
</ol><br />
<br />
<br />
<br />
== Testing and Prototyping Gears ==<br />
<br />
=== Waterjet ===<br />
<br />
The two main materials cut via the waterjet have been aluminum 6061 and mild steel. For aluminum, we tested 1"x2" squares to understand the taper produced by the waterjet cutting process. The results are below:<br />
<br />
==== Steel - 0.117" thick ====<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
| Trial 3<br />
|-<br />
| Waterjet set thickness<br />
| 0.117"<br />
| 0.130"<br />
| 0.117"<br />
|-<br />
| Taper compensation? (Yes/No)<br />
| No<br />
| No<br />
| Yes<br />
|-<br />
| Estimated time to cut (minutes)<br />
| 0.583<br />
| 0.636<br />
| 0.938<br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| 0.9937<br />
| 0.9877<br />
| 0.9945<br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| 1.0016<br />
| 1.0002<br />
| 0.9931<br />
|-<br />
| Resulting Taper (degrees)<br />
| 1.93<br />
| 6.25<br />
| <u>'''0.342'''</u><br />
|}<br />
<br />
==== Aluminum - 0.125" thick ====<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
|-<br />
| Waterjet set thickness<br />
| <br/><br />
| <br/><br />
|-<br />
| Taper compensation? (Yes/No)<br />
| <br/><br />
| <br/><br />
|-<br />
| Estimated time to cut (minutes)<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| <br/><br />
| <br/><br />
|-<br />
| Resulting Taper (degrees)<br />
| <br/><br />
| <br/><br />
|}<br />
<br />
=== Laser Cutter ===<br />
<br />
Below are the settings we used to cut the delrin gears with reasonable accuracy.<br />
<br />
==== Delrin ====<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 212px;"<br />
|-<br />
| style="width: 158px;" | Etch/Cut?<br />
| style="width: 41px;" | Etch<br />
|-<br />
| style="width: 158px;" | Line Thickness (if any)<br />
| style="width: 41px;" | 0.001"<br />
|-<br />
| style="width: 158px;" | Power<br />
| style="width: 41px;" | 90<br />
|-<br />
| style="width: 158px;" | Speed<br />
| style="width: 41px;" | 4.5<br />
|-<br />
| style="width: 158px;" | PPI/Hz<br />
| style="width: 41px;" | 1000<br />
|-<br />
| style="width: 158px;" | Passes<br />
| style="width: 41px;" | 25<br />
|-<br />
| style="width: 158px;" | Lens (Black/Red/Blue)<br />
| style="width: 41px;" | Black<br />
|}</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13836RC15Motors&Gears2015-01-11T19:38:17Z<p>EJones: </p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from&nbsp;[http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.<br />
<br />
= Background =<br />
<br />
== 2008 Robot Fleet ==<br />
<br />
The 2008 fleet of robots utilize a 30W Maxon Motor. Power was transmitted through a spur gear fixed to the shaft. This spur gear is held in place by a set screw that was set onto a flat grinded onto the shaft. There are no encoders on these robots.<br />
<br />
=== Performance ===<br />
<br />
These motors perform fine to this day (several years later). However, the lack of encoders makes it difficult to control the robots with any degree of precision.<br />
<br />
== 2011 Robot Fleet ==<br />
<br />
The 2011 fleet of robots utilize the same 30W Maxon Motor. Power was transmitted through a spur gear built into the motor shaft. The custom shafts were outsourced, and were effectively pinion wire that was turned down on a lathe to have appropriate sizing for:<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Pressing the shaft into the brushless motor shell</li><br />
<li>Pressing an encoder wheel onto the end of the shaft</li><br />
<li>Terminating the shaft such that the encoder housing could be capped and kept undisturbed from outside elements</li><br />
</ol><br />
<br />
=== Performance ===<br />
<br />
These motors perform extremely poorly due to the in-house manipulation. Due to errors during the team's manufacturing process in previous years, the brushless motor shell can slip on the custom shaft (i.e. the press fit is not strong enough to prevent slip), thereby degrading power transmission. This was rectified to an extent by epoxying the shaft onto the shell. However, this process is messy, inconsistent and sometimes results in deformation of components when assembled, thereby degrading the motors even further.&nbsp;<br />
<br />
The 2011 robots suffer from hall faults due the misalignment of components, and the fleet is largely unusable due to these problems. However, the encoders do prove to be useful if the robot has little to no motor issues.<br />
<br />
= Requirements =<br />
<br />
The motors and drive gears of the 2015 robot fleet is intended combine the good aspects of both the 2008 and 2011 fleets, without any of the problems. These requirements are as follows:<br />
<br />
== Primary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The team should not have to disassemble the motors in order to assemble the drivetrain. (The 2011 robots required a custom shaft, which required pressing combing apart and then reassembling. This results in degraded performance due to a variety of issues).</li><br />
<li>No epoxy to be used anywhere in the process</li><br />
<li>Any motor shaft manipulation should be able to be done safely and easily on in-house equipment</li><br />
<li>Compact design following that of the 2011 robots, as the large 50W motors do not permit such broad drive module as seen in the 2008 fleet.</li><br />
</ol><br />
<br />
== Secondary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The gears for the drivetrain are manufactured in-house on either the laser cutter, waterjet cutter, or injection molding machine</li><br />
</ol><br />
<br />
<br />
<br />
== Testing and Prototyping Gears ==<br />
<br />
=== Waterjet ===<br />
<br />
The two main materials cut via the waterjet have been aluminum 6061 and mild steel. For aluminum, we tested 1"x2" squares to understand the taper produced by the waterjet cutting process. The results are below:<br />
<br />
==== Steel - 0.117" thick ====<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"<br />
|-<br />
| <br/><br />
| Trial 1<br />
| Trial 2<br />
| Trial 3<br />
|-<br />
| Waterjet set thickness<br />
| 0.117"<br />
| 0.130"<br />
| 0.117"<br />
|-<br />
| Taper compensation? (Yes/No)<br />
| No<br />
| No<br />
| Yes<br />
|-<br />
| Estimated time to cut (minutes)<br />
| 0.583<br />
| 0.636<br />
| 0.938<br />
|-<br />
| Measured dimension on top (Nominal 1")<br />
| 0.9937<br />
| 0.9877<br />
| 0.9945<br />
|-<br />
| Measured dimension on bottom (Nominal 1")<br />
| 1.0016<br />
| 1.0002<br />
| 0.9931<br />
|-<br />
| Resulting Taper (degrees)<br />
| 1.93<br />
| 6.25<br />
| <u>'''0.342'''</u><br />
|}<br />
<br />
<br />
<br />
Aluminum - 0.125" thick<br />
<br />
=== Laser Cutter ===<br />
<br />
Below are the settings we used to cut the delrin gears with reasonable accuracy.<br />
<br />
==== Delrin ====<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 212px;"<br />
|-<br />
| style="width: 158px;" | Etch/Cut?<br />
| style="width: 41px;" | Etch<br />
|-<br />
| style="width: 158px;" | Line Thickness (if any)<br />
| style="width: 41px;" | 0.001"<br />
|-<br />
| style="width: 158px;" | Power<br />
| style="width: 41px;" | 90<br />
|-<br />
| style="width: 158px;" | Speed<br />
| style="width: 41px;" | 4.5<br />
|-<br />
| style="width: 158px;" | PPI/Hz<br />
| style="width: 41px;" | 1000<br />
|-<br />
| style="width: 158px;" | Passes<br />
| style="width: 41px;" | 25<br />
|-<br />
| style="width: 158px;" | Lens (Black/Red/Blue)<br />
| style="width: 41px;" | Black<br />
|}</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13731RoboCup Mechanical 20152014-12-29T18:30:48Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.&nbsp;[[File:Enlightenment.gif|frameless|right]]<br />
<p style="text-align: right;"><span style="text-align: right; line-height: 1.6;">&nbsp;</span></p><br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/w/RC15Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2015 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13730RoboCup Mechanical 20152014-12-29T18:30:35Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.&nbsp;[[File:Enlightenment.gif|frameless|right]]<br />
<p style="text-align: right;"><span style="text-align: right; line-height: 1.6;">&nbsp;</span></p><br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/w/RC15Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2015 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13698RC15Motors&Gears2014-12-27T13:51:41Z<p>EJones: </p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from&nbsp;[http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.<br />
<br />
= Background =<br />
<br />
== 2008 Robot Fleet ==<br />
<br />
The 2008 fleet of robots utilize a 30W Maxon Motor. Power was transmitted through a spur gear fixed to the shaft. This spur gear is held in place by a set screw that was set onto a flat grinded onto the shaft. There are no encoders on these robots.<br />
<br />
=== Performance ===<br />
<br />
These motors perform fine to this day (several years later). However, the lack of encoders makes it difficult to control the robots with any degree of precision.<br />
<br />
== 2011 Robot Fleet ==<br />
<br />
The 2011 fleet of robots utilize the same 30W Maxon Motor. Power was transmitted through a spur gear built into the motor shaft. The custom shafts were outsourced, and were effectively pinion wire that was turned down on a lathe to have appropriate sizing for:<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Pressing the shaft into the brushless motor shell</li><br />
<li>Pressing an encoder wheel onto the end of the shaft</li><br />
<li>Terminating the shaft such that the encoder housing could be capped and kept undisturbed from outside elements</li><br />
</ol><br />
<br />
=== Performance ===<br />
<br />
These motors perform extremely poorly due to the in-house manipulation. Due to errors during the team's manufacturing process in previous years, the brushless motor shell can slip on the custom shaft (i.e. the press fit is not strong enough to prevent slip), thereby degrading power transmission. This was rectified to an extent by epoxying the shaft onto the shell. However, this process is messy, inconsistent and sometimes results in deformation of components when assembled, thereby degrading the motors even further.&nbsp;<br />
<br />
The 2011 robots suffer from hall faults due the misalignment of components, and the fleet is largely unusable due to these problems. However, the encoders do prove to be useful if the robot has little to no motor issues.<br />
<br />
= Requirements =<br />
<br />
The motors and drive gears of the 2015 robot fleet is intended combine the good aspects of both the 2008 and 2011 fleets, without any of the problems. These requirements are as follows:<br />
<br />
== Primary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The team should not have to disassemble the motors in order to assemble the drivetrain. (The 2011 robots required a custom shaft, which required pressing combing apart and then reassembling. This results in degraded performance due to a variety of issues).</li><br />
<li>No epoxy to be used anywhere in the process</li><br />
<li>Any motor shaft manipulation should be able to be done safely and easily on in-house equipment</li><br />
<li>Compact design following that of the 2011 robots, as the large 50W motors do not permit such broad drive module as seen in the 2008 fleet.</li><br />
</ol><br />
<br />
== Secondary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The gears for the drivetrain are manufactured in-house on either the laser cutter, waterjet cutter, or injection molding machine.</li><br />
<li></li><br />
</ol></div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13697RC15Motors&Gears2014-12-26T17:34:01Z<p>EJones: </p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from&nbsp;[http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.<br />
<br />
= Background =<br />
<br />
== 2008 Robot Fleet ==<br />
<br />
The 2008 fleet of robots utilize a 30W Maxon Motor. Power was transmitted through a spur gear fixed to the shaft via a set screw that was set onto a flat grinded onto the shaft. There are no encoders on these robots.<br />
<br />
=== Performance ===<br />
<br />
These motors perform fine to this day (several years later). However, the lack of encoders makes it difficult to control the robots with any degree of precision.<br />
<br />
== 2011 Robot Fleet ==<br />
<br />
The 2011 fleet of robots utilize the same 30W Maxon Motor. Power was transmitted through a spur gear built into the motor shaft. The custom shafts were outsourced, and were effectively pinion wire that was turned down on a lathe to have appropriate sizing for:<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>Pressing the shaft into the brushless motor shell</li><br />
<li>Pressing an encoder wheel onto the end of the shaft</li><br />
<li>Terminating the shaft such that the encoder housing could be capped and kept undisturbed from outside elements</li><br />
</ol><br />
<br />
=== Performance ===<br />
<br />
These motors perform extremely poorly due to the in-house manipulation. Due to errors during the team's manufacturing process in previous years, the brushless motor shell can slip on the custom shaft (i.e. the press fit is not strong enough to prevent slip), thereby degrading power transmission. This was rectified to an extent by epoxying the shaft onto the shell. However, this process is messy, inconsistent and sometimes results in deformation of components when assembled, thereby degrading the motors even further.&nbsp;<br />
<br />
The 2011 robots suffer from hall faults due the misalignment of components, and the fleet is largely unusable due to these problems. However, the encoders do prove to be useful if the robot has little to no motor issues.<br />
<br />
= Requirements =<br />
<br />
The motors and drive gears of the 2015 robot fleet is intended combine the good aspects of both the 2008 and 2011 fleets, without any of the problems. These requirements are as follows:<br />
<br />
== Primary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The team should not have to disassemble the motors in order to assemble the drivetrain. (The 2011 robots required a custom shaft, which required pressing combing apart and then reassembling. This results in degraded performance due to a variety of issues).</li><br />
<li>No epoxy to be used anywhere in the process</li><br />
<li>Any motor shaft manipulation should be able to be done safely and easily on in-house equipment</li><br />
<li>Compact design following that of the 2011 robots, as the large 50W motors do not permit such broad drive module as seen in the 2008 fleet.</li><br />
</ol><br />
<br />
== Secondary requirements ==<br />
<ol style="line-height: 20.7999992370605px;"><br />
<li>The gears for the drivetrain are manufactured in-house on either the laser cutter, waterjet cutter, or injection molding machine.</li><br />
<li></li><br />
</ol></div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13695RC15Motors&Gears2014-12-26T16:31:08Z<p>EJones: EJones moved page RC15Motors/Gears to RC15Motors&Gears</p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from [http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15Motors%26Gears&diff=13694RC15Motors&Gears2014-12-26T16:23:19Z<p>EJones: Created page with "The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from [http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous tw..."</p>
<hr />
<div>The robots for the 2015 RoboCup SSL competition utilize new 50 Watt brushless motors from [http://www.maxonmotorusa.com/maxon/view/content/index Maxon Motors]. The previous two fleets of robots designed and built by the teams used 30 Watt motors, also from Maxon.</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13693RoboCup Mechanical 20152014-12-26T15:37:56Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.&nbsp;[[File:Enlightenment.gif|frameless|right]]<br />
<p style="text-align: right;"><span style="text-align: right; line-height: 1.6;">&nbsp;</span></p><br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/w/RC15Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2014 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13692RoboCup Mechanical 20152014-12-26T15:37:08Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.&nbsp;[[File:Enlightenment.gif|frameless|right]]<br />
<p style="text-align: right;"><span style="text-align: right; line-height: 1.6;">&nbsp;</span></p><br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/mediawiki/RC15Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2014 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13691RoboCup Mechanical 20152014-12-22T15:34:26Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.&nbsp;[[File:Enlightenment.gif|frameless|right]]<br />
<p style="text-align: right;"><span style="text-align: right; line-height: 1.6;">&nbsp;</span></p><br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/mediawiki/RC14Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2014 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13690RoboCup Mechanical 20152014-12-22T15:33:40Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.http://wiki.robojackets.org/mediawiki/images/1/16/Enlightenment.gif<br />
<p style="text-align: right;"><span style="text-align: right; line-height: 1.6;">&nbsp;</span></p><br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/mediawiki/RC14Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2014 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br/><br/><br/><br/><br/><br/><br/><br/><br/><br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13689RoboCup Mechanical 20152014-12-22T15:33:13Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.<br />
<p style="text-align: right;"><span style="text-align: right; line-height: 1.6;">&nbsp;</span>[[File:Enlightenment.gif]]</p><br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/mediawiki/RC14Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2014 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br/><br/><br/><br/><br/><br/><br/><br/><br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup&diff=13688RoboCup2014-12-22T15:32:46Z<p>EJones: </p>
<hr />
<div>[[File:RoboCup-Competition-2014 DisplayBot.jpg|thumb|right|420px]]<br />
<br />
The Georgia Tech RoboJackets RoboCup Small-Size League team competes in a 6-on-6 AI-driven soccer match against teams from around the world.<br/>The field is equipped with two overhead cameras, which act as the primary information source for the selection of plays and tactics.<br/><br/>If you haven't already, subscribe to the [https://lists.gatech.edu/sympa/subscribe/robojackets-robocup RoboCup Mailing List].<br />
<br />
== Important Items ==<br />
<br />
*The [[RoboCup: Redesign 2014-2015|2014-2015 Redesign]]<br />
*[[TDP|Team Description Papers (TDP)]]<br />
*[http://inventory.robojackets.org/ Electrical Inventory]<br />
*[http://wiki.robojackets.org/mediawiki/images/e/ef/DISPOSAL-OF-LIPO-BATTERIES.pdf Battery Disposal] <!--* [[BoardOrderRequest|Board Order Requests]]--><br />
*[http://robocupssl.cpe.ku.ac.th/ RoboCup Small Size League (SSL) Website]<br />
*[http://learn.robojackets.org/ RoboJackets Learning]<br />
*[[RoboCup System Archive|System Archive]]<br />
<br />
== Electrical ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/index.php?title=Special:MultiCategorySearch&&wpInCategory1=RoboCup&wpInCategory2=Electrical&limit=500&offset=0 List of RoboCup Electrical wiki pages]<br />
<br />
[[Be A Great EE|How to be a great electrical engineer]]<br />
<br />
[[RoboCup Electrical 2015|RoboCup Electrical 2015]]<br />
<br />
=== Control Board 2011 ===<br />
<br />
[[RoboCup: Control Board 2011|Control Board 2011c Reference Page]]<br />
<br />
[http://wiki.robojackets.org/mediawiki/images/c/c3/RC_LightDecoder.jpg LED Indicator Reference Sheet]<br />
<br />
=== Reflow Oven ===<br />
<br />
[[RoboCup: Reflow Soldering Oven|Reflow Oven Project]]<br />
<br />
=== Design Programs ===<br />
<br />
[http://www.cadsoftusa.com/download-eagle/ CadSoft EAGLE]<br />
<br />
[https://www.pentalogix.com/viewmate.php ViewMate]<br />
<br />
[http://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools.html Xilinx Vivado]<br />
<br />
=== Learning Resources ===<br />
<br />
[[RoboJackets Electrical Training]]<br />
<br />
[[RoboCup Electrical Videos|RoboCup Electrical Video Tutorials]]<br />
<br />
== Mechanical ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/index.php?title=Special:MultiCategorySearch&&wpInCategory1=RoboCup&wpInCategory2=Mechanical&limit=500&offset=0 List of all RoboCup Mechanical Works]<br />
<br />
[[RoboCup Mechanical 2015|RoboCup Mechanical 2015]]<br />
<br />
== Software ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/index.php?title=Special:MultiCategorySearch&&wpInCategory1=RoboCup&wpInCategory2=Software&limit=500&offset=0 List of all RoboCup Software Works]<br />
<br />
[[RoboCup Software]]<br />
<br />
[[RoboCup Live Robot Execution|Manual Drive Control]]<br />
<br />
[[RC14IMU|IMU]]<br />
<br />
== Example Matches ==<br />
<br />
[http://www.youtube.com/watch?v=nl9YupK0Y7U SKUBA(blue) vs. ZJUNlict(yellow)]<br />
<br />
[http://www.youtube.com/watch?v=vguuLGDdSnU Parsian(yellow) vs. KIKS(blue)]<br />
<br />
== Reference Documents ==<br />
<br />
[[Research Papers]]<br />
<br />
[[Resources for Learning|General Resources for Learning]]<br />
<br />
[[RCResources|RoboCup-Specific Resources for Learning]]<br />
[[Category:RoboCup]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup&diff=13687RoboCup2014-12-22T15:32:22Z<p>EJones: </p>
<hr />
<div>[[File:RoboCup-Competition-2014 DisplayBot.jpg|thumb|right|420px|RoboCup-Competition-2014 DisplayBot.jpg]]<br />
<br />
The Georgia Tech RoboJackets RoboCup Small-Size League team competes in a 6-on-6 AI-driven soccer match against teams from around the world.<br/>The field is equipped with two overhead cameras, which act as the primary information source for the selection of plays and tactics.<br/><br/>If you haven't already, subscribe to the [https://lists.gatech.edu/sympa/subscribe/robojackets-robocup RoboCup Mailing List].<br />
<br />
== Important Items ==<br />
<br />
*The [[RoboCup: Redesign 2014-2015|2014-2015 Redesign]]<br />
*[[TDP|Team Description Papers (TDP)]]<br />
*[http://inventory.robojackets.org/ Electrical Inventory]<br />
*[http://wiki.robojackets.org/mediawiki/images/e/ef/DISPOSAL-OF-LIPO-BATTERIES.pdf Battery Disposal] <!--* [[BoardOrderRequest|Board Order Requests]]--><br />
*[http://robocupssl.cpe.ku.ac.th/ RoboCup Small Size League (SSL) Website]<br />
*[http://learn.robojackets.org/ RoboJackets Learning]<br />
*[[RoboCup System Archive|System Archive]]<br />
<br />
== Electrical ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/index.php?title=Special:MultiCategorySearch&&wpInCategory1=RoboCup&wpInCategory2=Electrical&limit=500&offset=0 List of RoboCup Electrical wiki pages]<br />
<br />
[[Be A Great EE|How to be a great electrical engineer]]<br />
<br />
[[RoboCup Electrical 2015|RoboCup Electrical 2015]]<br />
<br />
=== Control Board 2011 ===<br />
<br />
[[RoboCup: Control Board 2011|Control Board 2011c Reference Page]]<br />
<br />
[http://wiki.robojackets.org/mediawiki/images/c/c3/RC_LightDecoder.jpg LED Indicator Reference Sheet]<br />
<br />
=== Reflow Oven ===<br />
<br />
[[RoboCup: Reflow Soldering Oven|Reflow Oven Project]]<br />
<br />
=== Design Programs ===<br />
<br />
[http://www.cadsoftusa.com/download-eagle/ CadSoft EAGLE]<br />
<br />
[https://www.pentalogix.com/viewmate.php ViewMate]<br />
<br />
[http://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools.html Xilinx Vivado]<br />
<br />
=== Learning Resources ===<br />
<br />
[[RoboJackets Electrical Training]]<br />
<br />
[[RoboCup Electrical Videos|RoboCup Electrical Video Tutorials]]<br />
<br />
== Mechanical ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/index.php?title=Special:MultiCategorySearch&&wpInCategory1=RoboCup&wpInCategory2=Mechanical&limit=500&offset=0 List of all RoboCup Mechanical Works]<br />
<br />
[[RoboCup Mechanical 2015|RoboCup Mechanical 2015]]<br />
<br />
== Software ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/index.php?title=Special:MultiCategorySearch&&wpInCategory1=RoboCup&wpInCategory2=Software&limit=500&offset=0 List of all RoboCup Software Works]<br />
<br />
[[RoboCup Software]]<br />
<br />
[[RoboCup Live Robot Execution|Manual Drive Control]]<br />
<br />
[[RC14IMU|IMU]]<br />
<br />
== Example Matches ==<br />
<br />
[http://www.youtube.com/watch?v=nl9YupK0Y7U SKUBA(blue) vs. ZJUNlict(yellow)]<br />
<br />
[http://www.youtube.com/watch?v=vguuLGDdSnU Parsian(yellow) vs. KIKS(blue)]<br />
<br />
== Reference Documents ==<br />
<br />
[[Research Papers]]<br />
<br />
[[Resources for Learning|General Resources for Learning]]<br />
<br />
[[RCResources|RoboCup-Specific Resources for Learning]]<br />
[[Category:RoboCup]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13686RoboCup Mechanical 20152014-12-22T15:31:57Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.&nbsp;[[File:Enlightenment.gif]]<br />
<br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/mediawiki/RC14Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2014 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br/><br/><br/><br/><br/><br/><br/><br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13685RoboCup Mechanical 20152014-12-22T15:30:45Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.<br />
<br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/mediawiki/RC14Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2014 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br/><br/><br/><br/><br/><br/><br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13684RoboCup Mechanical 20152014-12-22T15:30:31Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.<br />
<br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.[[File:Enlightenment.gif]]</font><br />
<br />
<font size="2"></font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/mediawiki/RC14Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2014 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br/><br/><br/><br/><br/><br/><br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13683RoboCup Mechanical 20152014-12-22T15:30:01Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.<br />
<br />
== Background ==<br />
<br />
=== Current Robotshttp://wiki.robojackets.org/mediawiki/images/1/16/Enlightenment.gif ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/mediawiki/RC14Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2014 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br/><br/><br/><br/><br/><br/><br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13682RoboCup Mechanical 20152014-12-22T15:29:42Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.<br />
<br />
[[File:Enlightenment.gif]]<br />
<br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/mediawiki/RC14Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2014 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br/><br/><br/><br/><br/><br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=File:Enlightenment.gif&diff=13681File:Enlightenment.gif2014-12-22T15:28:55Z<p>EJones: </p>
<hr />
<div></div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13680RoboCup Mechanical 20152014-12-22T15:25:47Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.<br />
<br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/mediawiki/RC14Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2014 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br/><br/><br/><br/><br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup&diff=13679RoboCup2014-12-22T15:25:32Z<p>EJones: </p>
<hr />
<div>[[File:RoboCup-Competition-2014 DisplayBot.jpg|thumb|right|420px]]<br />
<br />
The Georgia Tech RoboJackets RoboCup Small-Size League team competes in a 6-on-6 AI-driven soccer match against teams from around the world.<br/>The field is equipped with two overhead cameras, which act as the primary information source for the selection of plays and tactics.<br/><br/>If you haven't already, subscribe to the [https://lists.gatech.edu/sympa/subscribe/robojackets-robocup RoboCup Mailing List].<br />
<br />
== Important Items ==<br />
<br />
*The [[RoboCup: Redesign 2014-2015|2014-2015 Redesign]]<br />
*[[TDP|Team Description Papers (TDP)]]<br />
*[http://inventory.robojackets.org/ Electrical Inventory]<br />
*[http://wiki.robojackets.org/mediawiki/images/e/ef/DISPOSAL-OF-LIPO-BATTERIES.pdf Battery Disposal] <!--* [[BoardOrderRequest|Board Order Requests]]--><br />
*[http://robocupssl.cpe.ku.ac.th/ RoboCup Small Size League (SSL) Website]<br />
*[http://learn.robojackets.org/ RoboJackets Learning]<br />
*[[RoboCup System Archive|System Archive]]<br />
<br />
== Electrical ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/index.php?title=Special:MultiCategorySearch&&wpInCategory1=RoboCup&wpInCategory2=Electrical&limit=500&offset=0 List of RoboCup Electrical wiki pages]<br />
<br />
[[Be A Great EE|How to be a great electrical engineer]]<br />
<br />
[[RoboCup Electrical 2015|RoboCup Electrical 2015]]<br />
<br />
=== Control Board 2011 ===<br />
<br />
[[RoboCup: Control Board 2011|Control Board 2011c Reference Page]]<br />
<br />
[http://wiki.robojackets.org/mediawiki/images/c/c3/RC_LightDecoder.jpg LED Indicator Reference Sheet]<br />
<br />
=== Reflow Oven ===<br />
<br />
[[RoboCup: Reflow Soldering Oven|Reflow Oven Project]]<br />
<br />
=== Design Programs ===<br />
<br />
[http://www.cadsoftusa.com/download-eagle/ CadSoft EAGLE]<br />
<br />
[https://www.pentalogix.com/viewmate.php ViewMate]<br />
<br />
[http://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools.html Xilinx Vivado]<br />
<br />
=== Learning Resources ===<br />
<br />
[[RoboJackets Electrical Training]]<br />
<br />
[[RoboCup Electrical Videos|RoboCup Electrical Video Tutorials]]<br />
<br />
== Mechanical ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/index.php?title=Special:MultiCategorySearch&&wpInCategory1=RoboCup&wpInCategory2=Mechanical&limit=500&offset=0 List of all RoboCup Mechanical Works]<br />
<br />
[[RoboCup Mechanical 2015|RoboCup Mechanical 2015]]<br />
<br />
== Software ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/index.php?title=Special:MultiCategorySearch&&wpInCategory1=RoboCup&wpInCategory2=Software&limit=500&offset=0 List of all RoboCup Software Works]<br />
<br />
[[RoboCup Software]]<br />
<br />
[[RoboCup Live Robot Execution|Manual Drive Control]]<br />
<br />
[[RC14IMU|IMU]]<br />
<br />
== Example Matches ==<br />
<br />
[http://www.youtube.com/watch?v=nl9YupK0Y7U SKUBA(blue) vs. ZJUNlict(yellow)]<br />
<br />
[http://www.youtube.com/watch?v=vguuLGDdSnU Parsian(yellow) vs. KIKS(blue)]<br />
<br />
== Reference Documents ==<br />
<br />
[[Research Papers]]<br />
<br />
[[Resources for Learning|General Resources for Learning]]<br />
<br />
[[RCResources|RoboCup-Specific Resources for Learning]]<br />
[[Category:RoboCup]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13678RoboCup Mechanical 20152014-12-22T15:25:14Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.<br />
<br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/mediawiki/RC14Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2014 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br/><br/><br/><br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RoboCup_Mechanical_2015&diff=13677RoboCup Mechanical 20152014-12-22T15:23:22Z<p>EJones: </p>
<hr />
<div>This page houses the 2015 [http://wiki.robojackets.org/mediawiki/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;<br />
<br />
Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.<br />
<br />
== Background ==<br />
<br />
=== Current Robots ===<br />
<br />
<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font><br />
<br />
=== Previous Issues ===<br />
<br />
<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font><br />
<br />
=== Improvements ===<br />
<br />
<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font><br />
<br />
== <span style="line-height: 20.7999992370605px">Requirements</span> ==<br />
<br />
=== Primary Goals ===<br />
<br />
<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span><br />
<br />
#Encoders on the motors<br />
#Robust drivetrain mounts<br />
#Damped dribbler<br />
#Lower profile solenoids<br />
#Superior traction/grip for the wheels<br />
#Robust shell design<br />
<br />
=== Secondary Goals ===<br />
<br />
The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).<br />
<br />
#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)<br />
#Improved aesthetics for the robot shell<br />
#Ease of attachment/removal of electrical boards<br />
#Low center of gravity<br />
<br />
== Specifications ==<br />
<br />
*Ball speed after being kicked - 8 m/s<br />
*Dribbler bar speed - 8000 rpm<br />
*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br />
*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br />
<br />
*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]<br />
<br />
== Mechanical Systems ==<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]<br />
<br />
=== Drivetrain ===<br />
<br />
:[http://wiki.robojackets.org/w/RC14OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/mediawiki/RC14Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC14DriveModule Drive Module]<br/><br />
<br />
=== Integration ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08Shell Shell]<br/>[http://wiki.robojackets.org/mediawiki/RC08Chassis Chassis]<br />
<br />
=== Ball Control ===<br />
<br />
:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]<br />
:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br />
<br />
=== Testing ===<br />
<br />
:[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/><br />
<br />
== Schedule ==<br />
<br />
*Delivery of Prototype - End of January 2015 (shortly after arrival of 50W Maxon Motors)<br />
*Delivery of Fleet - End of February 2015<br />
<br />
== Meetings ==<br />
<br />
Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.<br />
<br />
== Documentation ==<br />
<br />
== Testing ==<br />
<br />
[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]<br />
<br />
== Quick Notes ==<br />
<br />
*Field Size:<br />
**For the 2014 year, two options were available for the field size:<br />
***Single-size field: 6050mm x 4050mm<br />
***Double-size field: 8090mm x 6050mm<br />
**For the 2014 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm<br />
*Max ball speed - 8 m/s<br />
*Ball diameter - 43 mm<br />
*Ball mass - 46 grams<br />
*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br />
*Coefficient of static friction of golf ball on felt carpet - .66<br />
***last two points from Cornell 2003 Mechanical Documentation<br />
<br />
== Useful Links ==<br />
<br />
*To be completed and appended to very soon<br/><br/><br />
[[Category:RoboCup]]<br/>[[Category:Mechanical]]<br/>[[Category:Year: 2014-2015|Year:_2014-2015]]</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15-FlatSolenoid&diff=13676RC15-FlatSolenoid2014-12-22T13:54:33Z<p>EJones: </p>
<hr />
<div>== <span style="line-height: 1.6;">Flat Solenoid armature speed '''without '''electrical steel</span><span style="line-height: 1.6;">&nbsp;s</span><span style="line-height: 1.6;">hell (mm/s)</span> ==<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"<br />
|-<br />
| style="text-align: center;" | <u><span style="line-height: 20.7999992370605px;">8859</span></u><br/><br />
| style="text-align: center;" | <u><span style="line-height: 20.7999992370605px;">8651</span></u><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9122</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9236</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9584</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9097</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9304</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9294</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9682</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9556</span><br/><br />
|}<br />
<br />
*Outliers underlined<br />
<br />
Average Armature Speed (mm/s)<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"<br />
|-<br />
| style="text-align: center;" | Average (with outliers)<br />
| style="text-align: center;" | Average (without outliers)<br />
|-<br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9359.375</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9238.5</span><br/><br />
|}<br />
<br />
== <span style="line-height: 1.6;">Flat Solenoid armature speed '''with''' electrical steel</span><span style="line-height: 1.6;">&nbsp;s</span><span style="line-height: 1.6;">hell (mm/s)</span> ==<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="line-height: 20.7999992370605px; width: 500px;"<br />
|-<br />
| style="text-align: center;" | <u><span style="line-height: 20.7999992370605px;"></span></u><span style="line-height: 20.7999992370605px;">9579</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9410</span><br/><br />
| style="text-align: center;" | <u>9147</u><br />
| style="text-align: center;" | 9363<br />
| style="text-align: center;" | 9753<br />
| style="text-align: center;" | 9471<br />
| style="text-align: center;" | 9685<br />
| style="text-align: center;" | 9646<br />
| style="text-align: center;" | 9477<br />
| style="text-align: center;" | <u>9134</u><br />
|}<br />
<br />
*Outliers underlined<br />
<br />
Average Armature Speed (mm/s)<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="line-height: 20.7999992370605px; width: 500px;"<br />
|-<br />
| style="text-align: center;" | Average (with outliers)<br />
| style="text-align: center;" | Average (without outliers)<br />
|-<br />
| style="text-align: center;" | 9548<br />
| style="text-align: center;" | 9466.5<br />
|}<br />
<br />
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15-FlatSolenoid&diff=13675RC15-FlatSolenoid2014-12-22T13:54:17Z<p>EJones: </p>
<hr />
<div>== <span style="line-height: 1.6;">Flat Solenoid armature speed '''without '''electrical steel</span><span style="line-height: 1.6;">&nbsp;s</span><span style="line-height: 1.6;">hell (mm/s)</span> ==<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"<br />
|-<br />
| style="text-align: center;" | <u><span style="line-height: 20.7999992370605px;">8859</span><br/></u><br />
| style="text-align: center;" | <u><span style="line-height: 20.7999992370605px;">8651</span></u><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9122</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9236</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9584</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9097</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9304</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9294</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9682</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9556</span><br/><br />
|}<br />
<br />
*Outliers underlined<br />
<br />
Average Armature Speed (mm/s)<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"<br />
|-<br />
| style="text-align: center;" | Average (with outliers)<br />
| style="text-align: center;" | Average (without outliers)<br />
|-<br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9359.375</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9238.5</span><br/><br />
|}<br />
<br />
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;Percent Imp: &nbsp; &nbsp; &nbsp; &nbsp;*Percent Imp:<br />
<br />
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0.020153589&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0.024679331<br />
<br />
== <span style="line-height: 1.6;">Flat Solenoid armature speed '''with''' electrical steel</span><span style="line-height: 1.6;">&nbsp;s</span><span style="line-height: 1.6;">hell (mm/s)</span> ==<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="line-height: 20.7999992370605px; width: 500px;"<br />
|-<br />
| style="text-align: center;" | <u><span style="line-height: 20.7999992370605px;"></span></u><span style="line-height: 20.7999992370605px;">9579</span><br/><br />
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">9410</span><br/><br />
| style="text-align: center;" | <u>9147</u><br />
| style="text-align: center;" | 9363<br />
| style="text-align: center;" | 9753<br />
| style="text-align: center;" | 9471<br />
| style="text-align: center;" | 9685<br />
| style="text-align: center;" | 9646<br />
| style="text-align: center;" | 9477<br />
| style="text-align: center;" | <u>9134</u><br />
|}<br />
<br />
*Outliers underlined<br />
<br />
Average Armature Speed (mm/s)<br />
<br />
{| border="1" cellspacing="1" cellpadding="1" style="line-height: 20.7999992370605px; width: 500px;"<br />
|-<br />
| style="text-align: center;" | Average (with outliers)<br />
| style="text-align: center;" | Average (without outliers)<br />
|-<br />
| style="text-align: center;" | 9548<br />
| style="text-align: center;" | 9466.5<br />
|}<br />
<br />
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;</div>EJoneshttps://wiki.robojackets.org/index.php?title=RC15-FlatSolenoid&diff=13674RC15-FlatSolenoid2014-12-22T13:44:30Z<p>EJones: </p>
<hr />
<div>Flat Solenoid w/o Shell (mm/s)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
*8859&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; *Including outliers&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
*8651&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9122&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9236&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Avg:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; *Avg:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9584&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 9359.375&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 9238.5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9097&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9304&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9294&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9682&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9556&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Percent Imp: &nbsp; &nbsp; &nbsp; &nbsp;*Percent Imp:<br />
<br />
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0.020153589&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 0.024679331<br />
<br />
Flat Solenoid w/ Shell (mm/s)&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9579&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9410&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
*9147&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9363&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Avg:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; *Avg:&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9753&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 9548&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 9466.5&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9471&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9685&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9646&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
9477&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<br />
<br />
*9134&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<br />
<br />
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;</div>EJones