Difference between revisions of "RC09-DriveModule"

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==Assembly Structure==
 
==Assembly Structure==
 +
====Parts Structure====
 +
# Inner Drive Plate
 +
# Omni Wheel
 +
# Output Axel
 +
# Spindle
 +
## Internal Gear
 +
## Bearing Plate
 +
## Wheel Attachment Plate
 +
## Hex Shaft
 +
 +
 
====Parts List====
 
====Parts List====
 +
# 1 - Omni Wheel (RC-2009-02-00)
 +
# 1 - Maxon Brushless Drive Motor (RC-2009-03-01)
 +
# 1 - Drive Module Plate (RC-2009-03-02)
 +
# 1 - Shaft (RC-2009-03-03)
 +
# 1 - Internal Gear (RC-2009-03-04)
 +
# 3 - 5/8" Long Hex Standoffs (RC-2009- -)
 +
# 2 - 1/4" Ball Bearings (RC-2009-03-05) (RC-2008-03-08)
  
 
====Instructions====
 
====Instructions====
Line 18: Line 36:
 
====Encoders====
 
====Encoders====
 
:Vendor - US Digital
 
:Vendor - US Digital
−
:Part No. - E4P-360-157-D-D-D-B
+
:Part No. - E4P-360-118-N-S-D-T-B
−
:Cost - $22.95 ($18.04)
+
:Cost - $24.81
 
:Description - E4P OEM Miniature Optical Kit Encoder [http://usdigital.com/assets/drawings/471.pdf Spec]
 
:Description - E4P OEM Miniature Optical Kit Encoder [http://usdigital.com/assets/drawings/471.pdf Spec]
−
:Note - Vendor supplied 3-48 x 1/4" screws are not long enough.
+
:Note - Vendor supplied 3-48 x 1/4" screws are not long enough for 0.05" plate. We have switched to transfer adhesive.
  
 
===Gears & Bearings===
 
===Gears & Bearings===
Line 30: Line 48:
 
:Description - Module 0.5, 16 Teeth, 20° Pressure Angle, 303 Stainless Steel Gear
 
:Description - Module 0.5, 16 Teeth, 20° Pressure Angle, 303 Stainless Steel Gear
  
−
====Motor Output Gear (Option B)====
+
====Internal Gear (Standard)(Supplier A)====
−
: Supplied with motor
+
:Vendor - SDP/SI
 +
:Part No. - S1E62Z-072S110
 +
:Cost - $47.16 ($44.51)
 +
:Description - 72 DP, 110T, AGMA Q10, 303 STAINLESS STEEL INTERNAL GEAR
  
−
====Motor Output Gear (Option C)====
+
====Internal Gear (Standard)(Supplier B)====
−
: Pinion shaft installed by us.
+
:Vendor - WM BERG
 +
:Part No. - N72S2-110 
 +
:Cost - $46.25
 +
:Description - 72 DP, 110T, AGMA Q10, 303 STAINLESS STEEL INTERNAL GEAR
  
−
====Internal Gear====
+
====Internal Gear (Metric)(Supplier A)====
−
:Vendor - SDP/SI
+
:Vendor - SDP/SI  
−
:Part No. - S1E05ZM05S072
+
:Part No. - S1E05ZM05S072  
−
:Cost - $31.10 ($28.48)
+
:Cost - $31.10 ($28.48)  
 
:Description - Module 0.5, 72 TEETH, 20° Pressure Angle, 303 Stainless Steel, INTERNAL GEAR
 
:Description - Module 0.5, 72 TEETH, 20° Pressure Angle, 303 Stainless Steel, INTERNAL GEAR
 +
 +
====Internal Gear (Metric)(Supplier B)====
 +
:Vendor -
 +
:Part No. - 
 +
:Cost -
 +
:Description -
 +
 
====Bearing (1/4" Shaft)====
 
====Bearing (1/4" Shaft)====
 
:Vendor - Grainger
 
:Vendor - Grainger
Line 54: Line 85:
 
:Cost - $26.06
 
:Cost - $26.06
 
:Description - Alloy 6061 Aluminum Sheet .125" Thick, 12" X 12"
 
:Description - Alloy 6061 Aluminum Sheet .125" Thick, 12" X 12"
−
 
−
====Al Plate 0.16"====
 
−
:Vendor - McMaster-Carr
 
−
:Part No. - 89015K17
 
−
:Cost - $16.66
 
−
:Description - Alloy 6061 Aluminum Sheet .016" Thick, 6" X 48"
 
  
 
====Al Plate 0.05"====
 
====Al Plate 0.05"====
Line 69: Line 94:
  
 
===Fasteners===
 
===Fasteners===
 +
====0-80 x  1/4" Button Head====
 +
:Vendor - McMaster-Carr
 +
:Part No. - 92949A054
 +
:Cost - $9.30 (Packs of 50)
 +
:Description - 18-8 SS Button Head Socket Cap Screw 0-80 Thread, 1/4" Length
 +
 
====6-32 Low Head Socket Cap Screw====
 
====6-32 Low Head Socket Cap Screw====
 
:Vendor - McMaster-Carr
 
:Vendor - McMaster-Carr
Line 75: Line 106:
 
:Description - Alloy Steel Low Head Socket Cap Screw 6-32 Thread, 1/4" Length
 
:Description - Alloy Steel Low Head Socket Cap Screw 6-32 Thread, 1/4" Length
  
−
====3-48 x  3/8"====
+
====6-32 Socket Cap Counter Sunk Screw====
 
:Vendor - McMaster-Carr
 
:Vendor - McMaster-Carr
−
:Part No. - 91772A094
+
:Part No. - 91253A144
−
:Cost - $8.60 (Packs of 100)
+
:Cost - $9.91 (Packs of 100)
−
:Description - 18-8 SS Pan Head Phillips Machine Screw 3-48 Thread, 3/8" Length
+
:Description - Alloy Steel Flat Head Socket Cap Screw 6-32 Thread, 1/4" Length, Black Oxide
  
−
====3-48 Nylon Lock Nut====
+
====6-32 Button Head====
 
:Vendor - McMaster-Carr
 
:Vendor - McMaster-Carr
−
:Part No. - 90631A004
+
:Part No. - 92949A143
−
:Cost - $9.27 (Pack of 100)
+
:Cost - $7.88 (Packs of 100)
−
:Description - Grade 2 Znc-Pltd Stl Nylon-Insert Hex Locknut 3-48 Thread Size, 1/4" Width, 9/64" Height
+
:Description - 18-8 SS Button Head Socket Cap Screw 6-32 Thread, 3/16" Length
 +
 
 +
====6-32 3/4" Standoffs====
 +
:Vendor - Digi-Key
 +
:Part No. - 2211K-ND
 +
:Cost - $6.14 (pk 10) $55.83 (pk 100)
 +
:Description - STANDOFF HEX 6-32THR ALUM .750"
 +
 
 +
====10-32 Shoulder Bolt====
 +
:Vendor - McMaster-Carr
 +
:Part No. - 94035A531
 +
:Cost - $2.08 (each)
 +
:Description - 18-8 SS Precision Hex Socket Shoulder Screw 1/4" Shoulder Dia, 1/8" L Shoulder, 10-32 Thread
  
 
====M3 x 6 Metric Flat Head Socket Cap Screw====
 
====M3 x 6 Metric Flat Head Socket Cap Screw====
Line 92: Line 135:
 
:Cost - $6.76 (pk 100)
 
:Cost - $6.76 (pk 100)
 
:Description - Metric Flat Head Socket Cap Screw Class 10.9 Stl, M3 Size, 6mm Length, .50mm Pitch (Needs 90 deg countersink)
 
:Description - Metric Flat Head Socket Cap Screw Class 10.9 Stl, M3 Size, 6mm Length, .50mm Pitch (Needs 90 deg countersink)
 +
 +
==== 1/16" Locating Pins====
 +
:Vendor - MSC Industrial Supply
 +
:Part No. - 88231196
 +
:Cost - $19.83 (pk 100)
 +
:Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 1/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright
  
 
==== 1/8" Locating Pins====
 
==== 1/8" Locating Pins====
 
:Vendor - MSC Industrial Supply
 
:Vendor - MSC Industrial Supply
−
:Part No. - 88231485
+
:Part No. - 88231469
 
:Cost - $26.46 (pk 100)
 
:Cost - $26.46 (pk 100)
−
:Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 1/8 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright
+
:Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 1/8 Overall Length: 3/16 Material: Stainless Steel - 416 SS Finish/Coating: Bright
  
−
====6-32 3/4" Standoffs====
+
==Fabrication==
−
:Vendor - Digi-Key
 
−
:Part No. - 2211K-ND
 
−
:Cost - $6.14 (pk 10) $55.83 (pk 100)
 
−
:Description - STANDOFF HEX 6-32THR ALUM .750"
 
  
 
==Action Log==
 
==Action Log==
Line 113: Line 158:
 
# 01/25/2009 - Preliminary encoder selected.
 
# 01/25/2009 - Preliminary encoder selected.
 
# 01/26/2009 - Initial design with a encoder completed.
 
# 01/26/2009 - Initial design with a encoder completed.
 +
# 02/02/2009 - Design revised. Attachment to bottom plate enhanced and encoder fully compensated for.
 +
# 02/22/2009 - Design for prototype completed.
 +
# 03/07/2009 - Design revised. Drive modules reshaped to accommodate capacitors.
 +
# 03/16/2009 - Gear posted to mfg.com for quote.
 +
# 03/17/2009 - Design revised. Spindle removed and internal gear placed on omni body.
 +
# 03/19/2009 - Plates reshaped to allow room for dribbler components.
 +
# 03/17/2009 - RFQ for internal gears posted on mfg.com.
 +
# 03/25/2009 - Supplier for initial run of internal gears selected.
 +
# 03/26/2009 - Have moved to reversing engineering and modifying drive motors in house.
 +
# 04/01/2009 - A spare drive motor from 2008 fleet was successfully disassembled and reassembled.
 +
# 04/02/2009 - Design of fixture for reassembling drive motors completed. Info can be found on the [[RC09-DriveMotorFab | Drive Motor Fixture]] page.
 +
# 07/18/2009 - Drive plates have been CAM'd.
 +
# 07/28/2009 - Motor shaft modified to allow for better assembly.
 +
# 10/18/2009 - Encoder plate CAM'd up in waterjet software.
 +
# 11/01/2009 - Output shaft standoffs fabricated.
 +
# 12/23/2009 - Drive plates machined.
 +
# 01/26/2010 - Encoder plates water jetted.
 +
# 02/16/2010 - Drive module assembled and wheel wobble discovered.
 +
# 03/19/2010 - Output shafts modified and remade.
 +
# 03/20/2010 - All drive modules assembled and tested wheel wobble still persists.
 +
# 03/25/2010 - New shielded bearings arrive and installed. Wheel wobble has been mitigated.
 +
# 03/27/2010 - Drive modules now ready fleet.
  
−
[[Category: RoboCup Mechanical]] [[Category: 2009]]
+
[[Category: RC Mechanical]]
 +
[[Category:2008-2009]]

Latest revision as of 19:51, 24 May 2020

As part of the RoboCup 2009 Mechanical, Drive Modules integrate the motor, gearbox and omniwheel in to one modular assembly.

2009 RoboJackets RoboCup Drive Module


Assembly Structure

Parts Structure

  1. Inner Drive Plate
  2. Omni Wheel
  3. Output Axel
  4. Spindle
    1. Internal Gear
    2. Bearing Plate
    3. Wheel Attachment Plate
    4. Hex Shaft


Parts List

  1. 1 - Omni Wheel (RC-2009-02-00)
  2. 1 - Maxon Brushless Drive Motor (RC-2009-03-01)
  3. 1 - Drive Module Plate (RC-2009-03-02)
  4. 1 - Shaft (RC-2009-03-03)
  5. 1 - Internal Gear (RC-2009-03-04)
  6. 3 - 5/8" Long Hex Standoffs (RC-2009- -)
  7. 2 - 1/4" Ball Bearings (RC-2009-03-05) (RC-2008-03-08)

Instructions

Parts & Components

Motors and Encoders

Brushless Motors

Vendor - Maxon
Part No. - 200142
Cost - $50.53(EUR)
Description - EC 45 flat Ø45 mm, brushless, 30 Watt

Encoders

Vendor - US Digital
Part No. - E4P-360-118-N-S-D-T-B
Cost - $24.81
Description - E4P OEM Miniature Optical Kit Encoder Spec
Note - Vendor supplied 3-48 x 1/4" screws are not long enough for 0.05" plate. We have switched to transfer adhesive.

Gears & Bearings

Motor Output Gear

Vendor - SDP/SI
Part No. - S1VS05M016F0704
Cost - $22.06 ($18.16)
Description - Module 0.5, 16 Teeth, 20° Pressure Angle, 303 Stainless Steel Gear

Internal Gear (Standard)(Supplier A)

Vendor - SDP/SI
Part No. - S1E62Z-072S110
Cost - $47.16 ($44.51)
Description - 72 DP, 110T, AGMA Q10, 303 STAINLESS STEEL INTERNAL GEAR

Internal Gear (Standard)(Supplier B)

Vendor - WM BERG
Part No. - N72S2-110
Cost - $46.25
Description - 72 DP, 110T, AGMA Q10, 303 STAINLESS STEEL INTERNAL GEAR

Internal Gear (Metric)(Supplier A)

Vendor - SDP/SI
Part No. - S1E05ZM05S072
Cost - $31.10 ($28.48)
Description - Module 0.5, 72 TEETH, 20° Pressure Angle, 303 Stainless Steel, INTERNAL GEAR

Internal Gear (Metric)(Supplier B)

Vendor -
Part No. -
Cost -
Description -

Bearing (1/4" Shaft)

Vendor - Grainger
Part No. - 1ZEJ7
Cost - $5.59 Each
Description - Miniature Ball Bearing, Open, Flanged, Bore Dia 0.2500 In, Outside Dia 0.5000 In, Width 0.1250 In, Flange Dia 0.5470 In, Flange Thickness 0.0230 In, ABEC Level 3
Info - Web Link

Stock

Al Plate 1/8"

Vendor - McMaster-Carr
Part No. - 89015K18
Cost - $26.06
Description - Alloy 6061 Aluminum Sheet .125" Thick, 12" X 12"

Al Plate 0.05"

Vendor - McMaster-Carr
Part No. - 8885K18
Cost - $35.62 Each
Description - Alloy 7075 Aluminum Sheet .050" Thick, 12" X 24"
Note - 7075 b/c we have left over from last year other wise 6061.

Fasteners

0-80 x 1/4" Button Head

Vendor - McMaster-Carr
Part No. - 92949A054
Cost - $9.30 (Packs of 50)
Description - 18-8 SS Button Head Socket Cap Screw 0-80 Thread, 1/4" Length

6-32 Low Head Socket Cap Screw

Vendor - McMaster-Carr
Part No. - 92220A141
Cost - $7.42 (Packs of 25)
Description - Alloy Steel Low Head Socket Cap Screw 6-32 Thread, 1/4" Length

6-32 Socket Cap Counter Sunk Screw

Vendor - McMaster-Carr
Part No. - 91253A144
Cost - $9.91 (Packs of 100)
Description - Alloy Steel Flat Head Socket Cap Screw 6-32 Thread, 1/4" Length, Black Oxide

6-32 Button Head

Vendor - McMaster-Carr
Part No. - 92949A143
Cost - $7.88 (Packs of 100)
Description - 18-8 SS Button Head Socket Cap Screw 6-32 Thread, 3/16" Length

6-32 3/4" Standoffs

Vendor - Digi-Key
Part No. - 2211K-ND
Cost - $6.14 (pk 10) $55.83 (pk 100)
Description - STANDOFF HEX 6-32THR ALUM .750"

10-32 Shoulder Bolt

Vendor - McMaster-Carr
Part No. - 94035A531
Cost - $2.08 (each)
Description - 18-8 SS Precision Hex Socket Shoulder Screw 1/4" Shoulder Dia, 1/8" L Shoulder, 10-32 Thread

M3 x 6 Metric Flat Head Socket Cap Screw

Vendor - McMaster-Carr
Part No. - 91294A126
Cost - $6.76 (pk 100)
Description - Metric Flat Head Socket Cap Screw Class 10.9 Stl, M3 Size, 6mm Length, .50mm Pitch (Needs 90 deg countersink)

1/16" Locating Pins

Vendor - MSC Industrial Supply
Part No. - 88231196
Cost - $19.83 (pk 100)
Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 1/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright

1/8" Locating Pins

Vendor - MSC Industrial Supply
Part No. - 88231469
Cost - $26.46 (pk 100)
Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 1/8 Overall Length: 3/16 Material: Stainless Steel - 416 SS Finish/Coating: Bright

Fabrication

Action Log

  1. 12/29/2008 - Internal gears selected.
  2. 12/30/2008 - Initial design of gear box completed.
  3. 01/11/2009 - Removed mass and moved to 1/8" plate for motor mounting.
  4. 01/12/2009 - Dropped 8-32 screws to 6-32, and made treading full on hex..
  5. 01/13/2009 - Confirmed that Maxon does offer custom shafts for motors and added current materials to wiki.
  6. 01/25/2009 - Preliminary encoder selected.
  7. 01/26/2009 - Initial design with a encoder completed.
  8. 02/02/2009 - Design revised. Attachment to bottom plate enhanced and encoder fully compensated for.
  9. 02/22/2009 - Design for prototype completed.
  10. 03/07/2009 - Design revised. Drive modules reshaped to accommodate capacitors.
  11. 03/16/2009 - Gear posted to mfg.com for quote.
  12. 03/17/2009 - Design revised. Spindle removed and internal gear placed on omni body.
  13. 03/19/2009 - Plates reshaped to allow room for dribbler components.
  14. 03/17/2009 - RFQ for internal gears posted on mfg.com.
  15. 03/25/2009 - Supplier for initial run of internal gears selected.
  16. 03/26/2009 - Have moved to reversing engineering and modifying drive motors in house.
  17. 04/01/2009 - A spare drive motor from 2008 fleet was successfully disassembled and reassembled.
  18. 04/02/2009 - Design of fixture for reassembling drive motors completed. Info can be found on the Drive Motor Fixture page.
  19. 07/18/2009 - Drive plates have been CAM'd.
  20. 07/28/2009 - Motor shaft modified to allow for better assembly.
  21. 10/18/2009 - Encoder plate CAM'd up in waterjet software.
  22. 11/01/2009 - Output shaft standoffs fabricated.
  23. 12/23/2009 - Drive plates machined.
  24. 01/26/2010 - Encoder plates water jetted.
  25. 02/16/2010 - Drive module assembled and wheel wobble discovered.
  26. 03/19/2010 - Output shafts modified and remade.
  27. 03/20/2010 - All drive modules assembled and tested wheel wobble still persists.
  28. 03/25/2010 - New shielded bearings arrive and installed. Wheel wobble has been mitigated.
  29. 03/27/2010 - Drive modules now ready fleet.
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