RC08-Chipper - Revision history

Mbayyari3 at 00:49, 25 May 2020

2020-05-25T00:49:41Z

Mbayyari3 at 00:34, 25 May 2020

2020-05-25T00:34:46Z

Kberzinch3: Text replacement - "Category: Year: 2007-2008" to "Category:2007-2008"

2018-07-19T01:56:36Z

Text replacement - "Category: Year: 2007-2008" to "Category:2007-2008"

Rosawa3: recategorizing

2013-11-09T10:15:05Z

recategorizing

Rosawa3: recategorizing

2013-11-09T08:25:55Z

recategorizing

Rosawa3 at 08:10, 18 July 2013

2013-07-18T08:10:15Z

Jason k at 22:29, 25 January 2008

2008-01-25T22:29:26Z

Jason k: /* Assembly Structure */

2008-01-15T18:50:48Z

‎Assembly Structure

Jason k at 18:29, 13 January 2008

2008-01-13T18:29:43Z

New page

This page contains the information and documentation of the 2008 chipper system

[[RobocupMechanical|Robocup 2008 Mechanical]]

==Assembly Structure==
{| border="1" cellpadding="2"
!width="225"|PART NAME
!width="100"|PART NUMBER
!width="50"|QUANTITY
|-
|Mounting Block || RC-2008-04-01 || 2
|-
|-
|Swing|| RC-2008-04-02 || 2
|-
|-
|Motor Plate || RC-2008-04-03 || 1
|-
|-
|Standoff || RC-2008-04-04 || 2
|-
|-
|Hinge Shaft || RC-2008-04-05 || 1
|-
|-
|8-32 Lock Nut || RC-2008-04-06 || 4
|-
|-
|2" Hex Standoff|| RC-2008-04-07 || 1
|-
|-
|Dribbler Motor || RC-2008-04-08 || 1
|-
|-
|M2x5 Screw || RC-2008-04-09 || 2
|-
|-
|Dribbler Motor Gear || RC-2008-04-10 || 1
|-
|-
|6-32 x 3/4 Screw || RC-2008-04-11 || 1
|-
|-
|Cross Plate || RC-2008-04-12 || 1
|-
|-
|4mm Snap Bearing|| RC-2008-04-13 || 2
|-
|-
|Dribbler Shaft || RC-2008-04-14 || 1
|-
|-
|Dribbler Roller || RC-2008-04-15 || 1
|-
|-
|Dribbler Roller Gear || RC-2008-04-16 || 1
|-
|-
|Left Torsion Spring || RC-2008-04-17 || 1
|-
|-
|Right Torsion Spring || RC-2008-04-18 || 1
|-
|-
|6-32 x 1/4 Screw || RC-2008-04-19 || 1
|-
|-
|3/8" Washer || RC-2008-04-20 || 1
|-
|-
|Neoprene Rubber Tube || RC-2008-04-21 || 1
|-
|-
|4-40 Set Screw|| RC-2008-04-22||1
|-
|}

==Parts & Components==
===Motor===
Vendor: MicroMo
* Motor: 12V DC brushless servo motor #E-1628B
**$147.10 each
* Planetary gearhead: #E-167 gear reduction: 14
* Complete assembly 1628-V-0003
Cost: $200.40 each

* [http://www.micromo.com/ MicroMo]
* [http://www.micromo.com/uploadpk/e_1628B_MIN.pdf Motor Data Sheet]
* [http://www.micromo.com/uploadpk/e_167_MIN.pdf Gearhead Data Sheet]

* Electrical specification
** 12 Volts
** must have position or speed encoders
** brushless DC

===Gears===
=====Motor gear=====
:Vendor: SDP/SI
:Part No.: A 1B 2MYK05030H
:Description: 3mm bore, 30 teeth, 15mm pitch diameter, brass gear with set screw
:Cost: $6.72
:Drawing:[https://sdp-si.com/ss/PDF/SSUM7025.PDF Motor Gear Spec Sheet]
*Connects directly to output of motor and powers dribbler roller

=====Roller gear=====
:Vendor: SDP/SI
:Part No.: A 1B 2MYK08020
:Description: 4mm bore, 20 teeth, 16mm pitch diameter, brass gear with set screw
:Cost: $9.12
:Drawing:[https://sdp-si.com/ss/PDF/78501043.pdf Dribbler Gear Spec Sheet]
*Roller gear needs be turned down from 7mm face to 2mm face width
*Powers the dribbler roller - is recessed into the roller itself

===Plates===
=====Swing=====
:Vendor: McMaster-Carr
:Part No.: 8885K13
:Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
:Cost: $21.73
*Contains the roller shaft, the motor mounts, spacers, and hinge shafts
*Material is same and shared with Omniwheel plates
*Left and right swings are identical

=====Motor plate=====
:Vendor: McMaster-Carr
:Part No.: 8885K13
:Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
:Cost: $21.73
*Supports motor and connects to the 2 spacers in assembly
*Material is same and shared with Omniwheel plates

=====Cross Plate=====
:Vendor: McMaster-Carr
:Part No.: 8885K13
:Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
:Cost: $21.73
*Connects both mounting blocks and provides mechanical limitation for swing and torsion springs
*Material is same and shared with Omniwheel plates

===Standoffs===
=====Standoff=====
:Vendor: McMaster-Carr
:Part No.: 9062K271
:Description: Alloy 6061 Aluminum Precision-Ground Rod 5/16" Diameter, 1' Length
:Cost: $9.10
*Standoff between swing and motor plate

=====2" Hex Standoff=====
:Vendor: McMaster-Carr
:Part No.: 91780A339
:Description: Aluminum Female Threaded Hex Standoff 1/4" Hex, 2" Length, 6-32 Screw Size
:Cost: $.88
*Hex standoff between motor plate and swing
*Both torsion springs anchor into the standoff

===Fasteners===
=====6-32 x 1/4" socket cap screw=====
:Vendor: McMaster-Carr
:Part No.: 92220A141
:Description: 6-32 x 1/4" steel, low profile, socket cap screw
:Cost: $7.22 for 25
*Connects the swing and hex standoff

=====6-32 x 3/4" socket cap screw=====
:Vendor: McMaster-Carr
:Part No.: 93615A217
:Description: 6-32 x 3/4" 18-8 stainless steel, low profile, socket cap screw
:Cost: $12.72 for 25
*Connects the swing, motor plate, and hex standoff

=====8-32 Lock Nut=====
:Vendor: McMaster-Carr
:Part No.: 90633A009
:Description: Steel Hex Nylon-Insert Locknut, 8-32 Screw Size, 11/32" W, 11/64" H
:Cost: $2.21 each - STOCK
*Constrains the dribbler and hinge shafts

=====4-40 Set Screw=====
:Vendor: McMaster-Carr
:Part No.: 91375A105
:Description: Alloy Steel Cup Point Socket Set Screw 4-40 Thread, 3/16" Length
:Cost: $7.99 for pack of 100
*Pins dribbler roller to the dribbler shaft

===Shaft===
=====Hinge shaft=====
:Vendor: McMaster-Carr
:Part No.: 8116K3
:Description: A2 Tool Steel Tight-Tolerance Metric Rod 4 mm Diameter, 3' Length
:Cost: $6.10
*Joint between swings and mounting blocks

=====Dribbler shaft=====
:Vendor: McMaster-Carr
:Part No.: 8116K3
:Description: A2 Tool Steel Tight-Tolerance Metric Rod 4 mm Diameter, 3' Length
:Cost: $6.10
*Roller and dribbler gear spin on dribbler shaft
*Material is shared with the hinge shaft

===Springs===
=====Left Torsion Spring=====
:Vendor: McMaster-Carr
:Part No.: 9271K35
:Description: 1.375 lbf-in of torque. Music Wire Torsion Spring 90 Deg Angle, .309" Coil OD, .040" Wire, Cw/Lh, Packs of 6
:Cost: $6.56 for 6
*Left hand wound torsion spring
*Rests on hinge shaft and provides cushioning for ball impact

=====Right Torsion Spring=====
:Vendor: McMaster-Carr
:Part No.: 9271K33
:Description: 1.375 lbf-in of torque. Music Wire Torsion Spring 90 Deg Angle, .309" Coil OD, .040" Wire, Cw/Rh, Packs of 6
:Cost: $6.56 for 6
*Right hand wound torsion spring
*Rests on hinge shaft and provides cushioning for ball impact

===Other===
=====Mounting block=====
:Vendor: McMaster-Carr
:Part No.: 3511T11
:Description: Alloy 6061 Aluminum Ground Flat Stock .250" Thick, 6" X 6" Size
:Cost: $45.44 each - STOCK
*Connects entire dribbler assembly to the robot

=====4mm snap thrust bearing=====
:Vendor: McMaster-Carr
:Part No.: 7817K33
:Description: Metric Nylon Snap-in Thrust Bearing for 4mm Shaft Dia, 1.45-2.34 mm Sheet Metal Thick
:Cost: $1.32 each
*supports dribbler shaft in the swing

=====3/8" Washer=====
:Vendor: McMaster-Carr
:Part No.: 93286A009
:Description: Aluminum washer 3/8" OD,.175" ID, 1/32" thick
:Cost: $3.52 for 100
*Washer between the swing and hex standoff

=====Neoprene Rubber Tube=====
:Vendor: McMaster-Carr
:Part No.: 7505K86
:Description: Ultra-Flex Neoprene Rubber Heat-Shrink Tubing 3/4" Expanded ID, 3/8" Shrunken ID,
:Cost: $8.97
*Roller and dribbler gear spin on dribbler shaft
*Material is shared with the hinge shaft

==Calculations==
=====Torsion Spring=====
* Analysis was done using the Work-Energy Principle with the assumption that the only work done is from the torsion spring and gravity. Because the dribbler assembly swings and has zero velocity at both positions, only the kinetic energy of the ball was used, at its maximum value of 10 m/s

=====Roller Speed=====
* Gears were selected for a gear ratio lower than 2007. The 2008 ratio is 1.5. This was with the hope of having more torque available for the roller to grip the ball.

==Notes==
* 4mm steel shaft chosen to increase strength to prevent bending of dribbler shaft when hit with a ball
*roller diameter - .5"
*dribbler shaft still slides free in between two snap-in thrust bearings and can be removed to allow the roller to be changed out

← Older revision		Revision as of 00:49, 25 May 2020
Line 171:		Line 171:


−	~~[[Category: RoboCup]]~~
	[[Category: RC Mechanical]]		[[Category: RC Mechanical]]
	[[Category:2007-2008]]]		[[Category:2007-2008]]]

@@ Line 1: / Line 1: @@
 This page contains the information and documentation of the 2008 chipper system
 ==Assembly Structure==
@@ Line 174: / Line 172: @@
 [[Category: RoboCup]]
-[[Category: Mechanical]]
+[[Category: RC Mechanical]]
 [[Category:2007-2008]]]

@@ Line 175: / Line 175: @@
 [[Category: RoboCup]]
 [[Category: Mechanical]]
-[[Category: Year: 2007-2008]]]
+[[Category:2007-2008]]]

@@ Line 175: / Line 175: @@
 [[Category: RoboCup]]
 [[Category: Mechanical]]
-[[Category: Year: 2007-08]]]
+[[Category: Year: 2007-2008]]]

@@ Line 174: / Line 174: @@
 [[Category: RoboCup]]
-[[Category: RoboCup Mechanical]]
+[[Category: Mechanical]]
-[[Category: RoboCup 2008]]
+[[Category: Year: 2007-08]]]

← Older revision		Revision as of 08:10, 18 July 2013
Line 171:		Line 171:
	*roller diameter - .5"		*roller diameter - .5"
	*dribbler shaft still slides free in between two snap-in thrust bearings and can be removed to allow the roller to be changed out		*dribbler shaft still slides free in between two snap-in thrust bearings and can be removed to allow the roller to be changed out
		+
		+
		+	[[Category: RoboCup]]
		+	[[Category: RoboCup Mechanical]]
		+	[[Category: RoboCup 2008]]

@@ Line 38: / Line 38: @@
 ==Parts & Components==
-===Motor===
+===Solenoid===
-Vendor: MicroMo
+Vendor: SolenoidCity
-* Motor: 12V DC brushless servo motor #E-1628B
+* .75" diameter, 1.5" long, pull type tubular solenoid, model number S-15-75
-**$147.10 each
+* Comes with 9/16" hex nut
-* Planetary gearhead: #E-167 gear reduction: 14
+* [http://www.solenoidcity.com/ SolenoidCity]
-* Complete assembly 1628-V-0003
+* [http://www.pdfdownload.org/pdf2html/pdf2html.php?url=http%3A%2F%2Fsolenoidcity.com%2Fsolenoid%2Ftubular%2Fs-15-75.pdf&images=yes Solenoid Data Sheet]
 * Electrical specification
-** 12 Volts
+** 300 Volts
-** must have position or speed encoders
+** operates at 10% duty cycle
 ===Plates===
-=====Swing=====
+=====Chipper Plate=====
 :Vendor: McMaster-Carr
 :Part No.: 8885K13
 :Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
 :Cost: $21.73
-*Contains the roller shaft, the motor mounts, spacers, and hinge shafts
+*Plate that makes contact with the ball
 *Material is same and shared with Omniwheel plates
-=====Motor plate=====
 :Vendor: McMaster-Carr
 :Part No.: 8885K13
 :Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
 :Cost: $21.73
-*Supports motor and connects to the 2 spacers in assembly
+*Connects solenoid to the chipper assembly
-*Material is same and shared with Omniwheel plates
+*Material is same and shared with Omniwheel plates and chipper plate
-=====Cross Plate=====
+=====Solenoid Mounting Arms=====
 :Vendor: McMaster-Carr
 :Part No.: 8885K13
 :Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
 :Cost: $21.73
-*Connects both mounting blocks and provides mechanical limitation for swing and torsion springs
+*Holds solenoid stationary to robot
 *Material is same and shared with Omniwheel plates
 ===Standoffs===
-=====Standoff=====
+=====8-32 x 3/8" Hex Standoff=====
 :Vendor: McMaster-Carr
-:Part No.: 91780A339
+:Part No.: 91780A194
-:Description: Aluminum Female Threaded Hex Standoff 1/4" Hex, 2" Length, 6-32 Screw Size
+:Description: Aluminum Female Threaded Hex Standoff 1/4" Hex, 3/8" Length, 8-32 Screw Size
-:Cost: $.88
+:Cost: $.34
-*Hex standoff between motor plate and swing
+*Standoffs connecting the two chipper arms
 ===Fasteners===
@@ Line 145: / Line 115: @@
 ===Shaft===
-=====Hinge shaft=====
+=====Chipper Hinge Shaft=====
 :Vendor: McMaster-Carr
 :Part No.: 8116K3
 :Description: A2 Tool Steel Tight-Tolerance Metric Rod 4 mm Diameter, 3' Length
 :Cost: $6.10
-*Joint between swings and mounting blocks
+*Pivot point of chipper
-=====Dribbler shaft=====
+=====8-32 Connecting Rod=====
 :Vendor: McMaster-Carr
 :Part No.: 8116K3
 :Description: A2 Tool Steel Tight-Tolerance Metric Rod 4 mm Diameter, 3' Length
 :Cost: $6.10
-*Roller and dribbler gear spin on dribbler shaft
+*Shaft for the links to connect solenoid to chipper
 ===Other===

@@ Line 9: / Line 9: @@
 !width="50"|QUANTITY
 |-
-|Mounting Block || RC-2008-04-01 || 2
+|Chipper Plate || RC-2008-06-01 || 2
 |-
 |-
-|Swing|| RC-2008-04-02 || 2
+|Left Arm|| RC-2008-06-02 || 2
 |-
 |-
-|Motor Plate || RC-2008-04-03 || 1
+|Right Arm || RC-2008-06-03 || 1
 |-
 |-
-|Standoff || RC-2008-04-04 || 2
+|Chipper Hinge Shaft || RC-2008-06-04 || 2
 |-
 |-
-|Hinge Shaft || RC-2008-04-05 || 1
+|8-32 Lock Nut || RC-2008-06-05 || 2
 |-
 |-
-|8-32 Lock Nut || RC-2008-04-06 || 4
+|4-40 x 1/4 Screw || RC-2008-06-06 || 2
 |-
 |-
-|2" Hex Standoff|| RC-2008-04-07 || 1
+|8-32 Socket Cap Set Screw|| RC-2008-06-07 || 2
 |-
 |-
-|Dribbler Motor || RC-2008-04-08 || 1
+|8-32 x 3/8 Hex Standoff || RC-2008-06-08 || 2
 |-
 |-
-|M2x5 Screw || RC-2008-04-09 || 2
+|8-32 Connecting Rod || RC-2008-06-09 || 1
 |-
 |}
 ==Parts & Components==