Difference between revisions of "RC08-Chipper"
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*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 | ||
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| + | [[Category: RoboCup]] | ||
| + | [[Category: RoboCup Mechanical]] | ||
| + | [[Category: RoboCup 2008]] | ||
Revision as of 03:10, 18 July 2013
This page contains the information and documentation of the 2008 chipper system
Contents
Assembly Structure
| PART NAME | PART NUMBER | QUANTITY |
|---|---|---|
| Chipper Plate | RC-2008-06-01 | 2 |
| Left Arm | RC-2008-06-02 | 2 |
| Right Arm | RC-2008-06-03 | 1 |
| Chipper Hinge Shaft | RC-2008-06-04 | 2 |
| 8-32 Lock Nut | RC-2008-06-05 | 2 |
| 4-40 x 1/4 Screw | RC-2008-06-06 | 2 |
| 8-32 Socket Cap Set Screw | RC-2008-06-07 | 2 |
| 8-32 x 3/8 Hex Standoff | RC-2008-06-08 | 2 |
| 8-32 Connecting Rod | RC-2008-06-09 | 1 |
Parts & Components
Solenoid
Vendor: SolenoidCity
- .75" diameter, 1.5" long, pull type tubular solenoid, model number S-15-75
- Comes with 9/16" hex nut
- SolenoidCity
- Solenoid Data Sheet
- Electrical specification
- 300 Volts
- operates at 10% duty cycle
Plates
Chipper Plate
- Vendor: McMaster-Carr
- Part No.: 8885K13
- Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
- Cost: $21.73
- Plate that makes contact with the ball
- Material is same and shared with Omniwheel plates
Link
- Vendor: McMaster-Carr
- Part No.: 8885K13
- Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
- Cost: $21.73
- Connects solenoid to the chipper assembly
- Material is same and shared with Omniwheel plates and chipper plate
Solenoid Mounting Arms
- Vendor: McMaster-Carr
- Part No.: 8885K13
- Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
- Cost: $21.73
- Holds solenoid stationary to robot
- Material is same and shared with Omniwheel plates
Standoffs
8-32 x 3/8" Hex Standoff
- Vendor: McMaster-Carr
- Part No.: 91780A194
- Description: Aluminum Female Threaded Hex Standoff 1/4" Hex, 3/8" Length, 8-32 Screw Size
- Cost: $.34
- Standoffs connecting the two chipper arms
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
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
- Pivot point of chipper
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
- Shaft for the links to connect solenoid to chipper
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
