Difference between revisions of "RC08-Kicker"

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This page contains the information and documentation of the 2008 kicker system
 
This page contains the information and documentation of the 2008 kicker system
  
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[[RobocupMechanical|Robocup 2008 Mechanical]]
+
==Assembly Structure==
 +
{| border="1" cellpadding="2"
 +
!width="225"|PART NAME
 +
!width="100"|PART NUMBER
 +
!width="50"|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
 +
|-
 +
|}
  
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==Solenoid==
 
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*Push type solenoid from Solenoid City
 
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*1.25" diameter, 2" long
 
  
−
[http://www.solenoidcity.com/solenoid/tubular/s-20-125hp1.htm S-20-125-H]
+
==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
  
−
==Calculations==
+
* [http://www.solenoidcity.com/ MicroMo]
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*Solenoid city spec's at 10% duty cycle: pulse
+
* [http://www.solenoidcity.com/solenoid/tubular/s-20-125hp1.htm Solenoid Data Sheet]
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*vector of stroke and force are numerically integrated - using the Work-Energy Principle
 
−
* Work= change in Kinetic energy
 
  
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===Work===
 
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* stroke (MUST CONVERT MM TO METERS FOR UNITS TO BE IN JOULES)
 
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**[1.3 6.4 12.7 19.4 25.4]
 
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* force (UNITS: NEWTONS)
 
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**[45.6 30.5 18.1 9.6 3.1]
 
  
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*Integrate via TRAPZ function in MATLAB
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* Electrical specification
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*Mechanical Work turns out to be: .4758 J
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** capable of 300V pulse
  
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===Kinetic Energy===
+
===Return Springs===
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*total KE of ball is KE(translation) + KE(rotation) which for a sphere with I=2/5mr^2
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* 4 different return springs for this solenoid, all 4 were purchased and one will be evaluated.
−
*total KE= 7/10*m*v^2
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* each are helical and when compressed take up very little space.
  
−
* now W=KE
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===Hex Nut===
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*ball assumed to be at rest - not always the case. however final speed of the ball is lowest when the the ball is initially still
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*5/32" thick, 7/8" between flats hexagonal nut with threads: 3/4-18 - UNF-2A
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* W = KE2-KE1 so then KE2=7/10m*vfinal^2=W+KE1
 
  
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* for this solenoid - final velocity of the center of the ball to be: 3.844 m/s
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===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.
  
  
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*[http://www.solenoidcity.com/solenoid/tubular/s-20-125hp1.htm S-20-100-H]
 
*[http://www.solenoidcity.com/solenoid/tubular/s-20-125hp1.htm S-20-100-H]
  
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==Kicker plate==
+
[[Category: RC Mechanical]]
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*must be aluminum - doesn't deform as much as plastic, and ligther than steel
+
[[Category:2007-2008]]
−
 
 
−
==Ball Speed==
 
−
*goal: 10m/s
 

Latest revision as of 19:50, 24 May 2020

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

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


  • 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
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