RC08-Kicker

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

Robocup 2008 Mechanical

Assembly Structure

PART NAME	PART NUMBER	QUANTITY
Solenoid Mount	RC-2008-05-01	1
Kicker Solenoid Tube	RC-2008-05-02	1
Kicker Solenoid Plunger	RC-2008-05-03	1
3/4 Hex Nut	RC-2008-05-04	1
Boot	RC-2008-05-05	1
6-32 x 1/4" Screw	RC-2008-05-06	2

Parts & Components

Solenoid

Vendor: Solenoid City

Part No.: SOTUH032051

Description: S-20-125-H push solenoid, 1.25" in diameter, 2" long, 120V at 10% duty cycle

Cost: $48.88 each

• MicroMo
• Solenoid Data Sheet

• Electrical specification
  • capable of 300V pulse

Return Springs

• 4 different return springs for this solenoid, all 4 were purchased and one will be evaluated.
• each are helical and when compressed take up very little space.

Hex Nut

• 5/32" thick, 7/8" between flats hexagonal nut with threads: 3/4-18 - UNF-2A

Plates

Solenoid Mount

Vendor: McMaster-Carr

Part No.: 3511T11

Description: Alloy 6061 Aluminum Ground Flat Stock .250" Thick, 6" X 6" Size

Cost: $45.44 each - STOCK

• Holds solenoid and mounts it to the drive plate
• Screws on the side constrain range of chipper

Boot

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

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

• Provides limitation to chipper angle

6-20 x 0.25" Set Screw

Vendor: McMaster-Carr

Part No.: 92765A308

Description: 6-20 x 1/4" steel, set screw

Cost: $6.54 for 25

• Connects aluminum and steel shafts in kicker plunger

Calculations

Kicker Force

• Kicker force is taken to be the work done by the solenoid. This was found by numerically integrating the force and stroke values given in the data sheet for the solenoid. This produced a value of .45 J
• A dynamic simulation was used with Inventor...

Notes

• Kicker plate must be metal to reduce deformation upon impact
• Although the force-stroke calculations produce a ball speed much less than the desired 10 m/s, the values given in the solenoid data sheet are for a maximum of 120V
• The hope is that a solenoid using 300V could easily achieve 10 m/s and beyond.
• All 4 return springs were ordered and one will be selected after trials.

2007 Solenoid

• Solenoid from '07 season. S-20-100-H from Solenoid City, ~ $39
• S-20-100-H