Difference between revisions of "RC08-Dribbler"

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==Motor==
 
==Motor==
−
* Dribbler motor has been found and will be ordered soon (10/5/07)
+
* Vendor: MicroMo
−
* Source: MicroMo
 
 
* Motor: 12V DC brushless servo motor #E-1628B  
 
* Motor: 12V DC brushless servo motor #E-1628B  
 
**$147.10 each
 
**$147.10 each
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* [http://www.micromo.com/uploadpk/e_1628B_MIN.pdf Motor Data Sheet]
 
* [http://www.micromo.com/uploadpk/e_1628B_MIN.pdf Motor Data Sheet]
 
* [http://www.micromo.com/uploadpk/e_167_MIN.pdf Gearhead Data Sheet]
 
* [http://www.micromo.com/uploadpk/e_167_MIN.pdf Gearhead Data Sheet]
−
 
  
 
* Electrical specification
 
* Electrical specification
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==Gearing==
 
==Gearing==
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*Motor gear - SDP/SI A-1B-2MYK05030H
+
*Motor gear - SDP/SI A 1B 2MYK05030H
 
**$6.85 each, 3mm bore, 30 teeth, 15mm pitch diameter, brass gear with set screw  
 
**$6.85 each, 3mm bore, 30 teeth, 15mm pitch diameter, brass gear with set screw  
 
**[https://sdp-si.com/ss/PDF/SSUM7025.PDF Motor Gear Spec Sheet]
 
**[https://sdp-si.com/ss/PDF/SSUM7025.PDF Motor Gear Spec Sheet]
−
*roller gear - SDP/SI A-1B-2MYK08020
+
*roller gear - SDP/SI A 1B 2MYK08020
 +
*roller gear WILL be turned down from 7mm face to 2mm face width
 
**$9.12 each, 4mm bore, 20 teeth, 16mm pitch diameter, brass gear with set screw
 
**$9.12 each, 4mm bore, 20 teeth, 16mm pitch diameter, brass gear with set screw
 
**[https://sdp-si.com/ss/PDF/78501043.pdf Dribbler Gear Spec Sheet]
 
**[https://sdp-si.com/ss/PDF/78501043.pdf Dribbler Gear Spec Sheet]
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**pack of 100 for $3.03
 
**pack of 100 for $3.03
 
**McMaster part number 98543A101
 
**McMaster part number 98543A101
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==Prototype A==
 
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====Unitized Components====
 
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{|style="height:20px" border="1" cellpadding="5"
 
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!width="50"|Part
 
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!width="400"|Description
 
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!width="50"|Quantity
 
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!width="100"|Vendor
 
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!width="100"|Vendor Part Number
 
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!width="50"|Unit Price
 
−
!width="50"|Total Price
 
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|-
 
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|04-01||12V Dribbler Motor and 14:1 Gearhead ||1||MicroMo||1628-V-0003||200.40||200.40
 
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|-
 
−
|-
 
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|04-02||Motor Gear||1||SDP-SI||A-1B-2MYK05030H||6.85||6.85
 
−
|-
 
−
|-
 
−
|04-03||Roller Gear||1||SDP-SI||A-1B-2MYK08020||9.12||9.12
 
−
|-
 
−
|-
 
−
|04-04||4mm snap-in thrust bearings||2||McMaster||7817K33||1.32||2.64
 
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|-
 
−
|-
 
−
|TOTAL UNIT COST|| || || || ||219.01
 
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|-
 
−
|}
 
−
 
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====Shared Components====
 
−
{|style="height:20px" border="1" cellpadding="5"
 
−
!width="50"|Part
 
−
!width="400"|Description
 
−
!width="50"|Quantity
 
−
!width="100"|Vendor
 
−
!width="100"|Vendor Part Number
 
−
!width="50"|Unit Price
 
−
!width="50"|Total Price
 
−
 
−
|-
 
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|.062" x 12" x 12" aluminum plate- STOCK||1||McMaster||1651T21||21.47||0
 
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|-
 
−
|-
 
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|3/8" x 3' steel shaft||1||McMaster||9120K13||5.77||5.77
 
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|-
 
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|4mm x 36" steel shaft||1||McMaster||88625K63||2.22||2.22
 
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|-
 
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|-
 
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|1/4" diameter x 36" aluminum shaft ||1||McMaster||6750K133||7.57||7.57
 
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|-
 
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|-
 
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|6-32 x 5/8" socket screw||1||McMaster||91251A150||10.35||10.35
 
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|-
 
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|-
 
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|6-32 lock nut||1||McMaster||90633A007||2.18||2.18
 
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|-
 
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|-
 
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|TOTAL|| || || || ||28.09
 
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|-
 
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|}
 
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====Dribbler Prototype Cost====
 
−
*$247.10 for one prototype dribbler
 
  
 
==Notes==
 
==Notes==
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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
 +
 +
==Dribbler bar prototypes==
 +
*shaft diameter on ends of bar - 3mm
 +
*maximum diameter of dribbler - .75"
 +
*the dribbler bar prototypes will be lathed and done coated with neoprene heat shrink
 +
[[image:dribblerprototype.png|500 px|Dribbler bar prototype drawing]]
 +
 +
==Parts==
 +
===dribbler bar prototypes===
 +
*3/4" diameter aluminum bar stock
 +
**$8.34
 +
**McMaster part number 6750K181
 +
*3mm diameter aluminum bar stock
 +
**$6.94
 +
**McMaster part number 1681T21
 +
*3/4" neoprene heat shrink
 +
**pack of 5 for $8.97
 +
**McMaster part number 7505K86
 +
*3mm e-clips
 +
**pack of 100 for $3.03
 +
**McMaster part number 98543A101
  
 
==2007 Dribbler==
 
==2007 Dribbler==

Revision as of 23:13, 18 December 2007

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

Robocup 2008 Mechanical

Motor

  • Vendor: MicroMo
  • Motor: 12V DC brushless servo motor #E-1628B
    • $147.10 each
  • Planetary gearhead: #E-167 gear reduction: 14
  • Complete assembly 1628-V-0003
    • $200.40 each
  • Electrical specification
    • 12 Volts
    • must have position or speed encoders
    • brushless DC

Gearing

  • Motor gear - SDP/SI A 1B 2MYK05030H
  • roller gear - SDP/SI A 1B 2MYK08020
  • roller gear WILL be turned down from 7mm face to 2mm face width
  • Dribbler Roller Speed


  • Example geared down dribbler bar speed used in CMU robots ~7800 RPM

Dribbler bar prototypes

  • shaft diameter on ends of bar - 3mm
  • maximum diameter of dribbler - .75"
  • the dribbler bar prototypes will be lathed and done coated with neoprene heat shrink

Dribbler bar prototype drawing

Parts

dribbler bar prototypes

  • 3/4" diameter aluminum bar stock
    • $8.34
    • McMaster part number 6750K181
  • 3mm diameter aluminum bar stock
    • $6.94
    • McMaster part number 1681T21
  • 3/4" neoprene heat shrink
    • pack of 5 for $8.97
    • McMaster part number 7505K86
  • 3mm e-clips
    • pack of 100 for $3.03
    • McMaster part number 98543A101

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

Dribbler bar prototypes

  • shaft diameter on ends of bar - 3mm
  • maximum diameter of dribbler - .75"
  • the dribbler bar prototypes will be lathed and done coated with neoprene heat shrink

Dribbler bar prototype drawing

Parts

dribbler bar prototypes

  • 3/4" diameter aluminum bar stock
    • $8.34
    • McMaster part number 6750K181
  • 3mm diameter aluminum bar stock
    • $6.94
    • McMaster part number 1681T21
  • 3/4" neoprene heat shrink
    • pack of 5 for $8.97
    • McMaster part number 7505K86
  • 3mm e-clips
    • pack of 100 for $3.03
    • McMaster part number 98543A101

2007 Dribbler

Drive gear

  • attached to the motor
  • SDP/SI A-1B-2MYK05045 Data sheet
  • 45 teeth, 3mm bore, 22.5mm pitch diameter

Dribbler gear

  • attached to the roller. This is done by pressing having a set screw in the gear interfere with the roller. Both the gear and roller are free to spin on the shaft, which permitting easy change.
  • SDP/SI A-1B-2MYKO5020H Data sheet
  • 20 teeth, 3mm bore, 10mm pitch diameter
  • gear ratio from motor to drilbber = 2.25

Motor

  • 15.9mm diameter, 3mm output shaft

Specs from CMU

  • Dribbler motor gear from SDP-SI: S10T05M042A0303 Module 0.5, 42 Teeth, 20° Pressure Angle , 2024 Aluminum alloy Gear
  • Dribbler bar gear from SDP-SI: S10T05M028A0305 Module 0.5, 28 Teeth, 20° Pressure Angle , 2024 Aluminum alloy Gear
  • spur gear reduction 1:1.5
  • Dribbler Motor - Maxon
  • nominal dribbler bar speed = 28200/5.4*1.5 = 7833 RPM. It is, of course, adjustable by software.
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