Difference between revisions of "RC09-DriveModule"
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# 3 - 5/8" Long Hex Standoffs (RC-2009- -) | # 3 - 5/8" Long Hex Standoffs (RC-2009- -) | ||
# 2 - 1/4" Ball Bearings (RC-2009-03-05) (RC-2008-03-08) | # 2 - 1/4" Ball Bearings (RC-2009-03-05) (RC-2008-03-08) | ||
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====Instructions==== | ====Instructions==== | ||
| Line 39: | Line 36: | ||
====Encoders==== | ====Encoders==== | ||
:Vendor - US Digital | :Vendor - US Digital | ||
| − | :Part No. - E4P-360- | + | :Part No. - E4P-360-118-N-S-D-T-B |
| − | :Cost - $ | + | :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 for 0.05" plate. We have switched to transfer adhesive. | :Note - Vendor supplied 3-48 x 1/4" screws are not long enough for 0.05" plate. We have switched to transfer adhesive. | ||
| Line 88: | 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 0.05"==== | ====Al Plate 0.05"==== | ||
| Line 120: | Line 111: | ||
:Cost - $9.91 (Packs of 100) | :Cost - $9.91 (Packs of 100) | ||
:Description - Alloy Steel Flat Head Socket Cap Screw 6-32 Thread, 1/4" Length, Black Oxide | :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==== | ====6-32 3/4" Standoffs==== | ||
| Line 126: | Line 123: | ||
:Cost - $6.14 (pk 10) $55.83 (pk 100) | :Cost - $6.14 (pk 10) $55.83 (pk 100) | ||
:Description - STANDOFF HEX 6-32THR ALUM .750" | :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 158: | Line 161: | ||
# 02/22/2009 - Design for prototype completed. | # 02/22/2009 - Design for prototype completed. | ||
# 03/07/2009 - Design revised. Drive modules reshaped to accommodate capacitors. | # 03/07/2009 - Design revised. Drive modules reshaped to accommodate capacitors. | ||
| − | [[Category: | + | # 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: 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.
Contents
Assembly Structure
Parts Structure
- Inner Drive Plate
- Omni Wheel
- Output Axel
- Spindle
- Internal Gear
- Bearing Plate
- Wheel Attachment Plate
- Hex Shaft
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
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
- 12/29/2008 - Internal gears selected.
- 12/30/2008 - Initial design of gear box completed.
- 01/11/2009 - Removed mass and moved to 1/8" plate for motor mounting.
- 01/12/2009 - Dropped 8-32 screws to 6-32, and made treading full on hex..
- 01/13/2009 - Confirmed that Maxon does offer custom shafts for motors and added current materials to wiki.
- 01/25/2009 - Preliminary encoder selected.
- 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 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.
