Difference between revisions of "RC08-Dribbler"

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Line 31: Line 31:
 
:Cost: $6.72
 
:Cost: $6.72
 
:Drawing:[https://sdp-si.com/ss/PDF/SSUM7025.PDF Motor Gear Spec Sheet]
 
:Drawing:[https://sdp-si.com/ss/PDF/SSUM7025.PDF Motor Gear Spec Sheet]
−
 
 
*Connects directly to output of motor and powers dribbler roller
 
*Connects directly to output of motor and powers dribbler roller
  
Line 40: Line 39:
 
:Cost: $9.12
 
:Cost: $9.12
 
:Drawing:[https://sdp-si.com/ss/PDF/78501043.pdf Dribbler Gear Spec Sheet]
 
:Drawing:[https://sdp-si.com/ss/PDF/78501043.pdf Dribbler Gear Spec Sheet]
−
 
 
*Roller gear needs be turned down from 7mm face to 2mm face width
 
*Roller gear needs be turned down from 7mm face to 2mm face width
 
*Powers the dribbler roller - is recessed into the roller itself
 
*Powers the dribbler roller - is recessed into the roller itself
Line 50: Line 48:
 
:Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
 
:Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
 
:Cost: $21.73
 
:Cost: $21.73
−
 
 
*Contains the roller shaft, the motor mounts, spacers, and hinge shafts
 
*Contains the roller shaft, the motor mounts, spacers, and hinge shafts
 
*Material is same and shared with Omniwheel plates
 
*Material is same and shared with Omniwheel plates
Line 60: Line 57:
 
:Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
 
:Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
 
:Cost: $21.73
 
:Cost: $21.73
−
 
 
*Supports motor and connects to the 2 spacers in assembly
 
*Supports motor and connects to the 2 spacers in assembly
 
*Material is same and shared with Omniwheel plates
 
*Material is same and shared with Omniwheel plates
  
−
===Spacers===
+
===Standoffs===
−
=====Spacer1=====
+
=====Standoff=====
−
=====Spacer2=====
+
:Vendor: McMaster-Carr
 +
:Part No.:
 +
:Description:
 +
:Cost:
 +
*Standoff between swing and motor plate
 +
 
 +
=====Hex Standoff=====
 +
:Vendor: McMaster-Carr
 +
:Part No.:
 +
:Description:
 +
:Cost:
 +
*Hex standoff between motor plate and swing
 +
*Both torsion springs anchor into the standoff
  
 
===Fasteners===
 
===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
 +
*Connects the swing and hex standoff
  
 +
=====6-32 x 3/4" socket cap screw
 +
:Vendor: McMaster-Carr
 +
:Part No.: 93615A217
 +
:Description: 6-32 x 3/4" 18-8 stainless steel, low profile, socket cap screw
 +
:Cost: $12.72 for 25
 +
*Connects the swing, motor plate, and hex standoff
  
 
===Shaft===
 
===Shaft===
 
=====Hinge shaft=====
 
=====Hinge shaft=====
 +
:Vendor: McMaster-Carr
 +
:Part No.: 8116K3
 +
:Description: A2 Tool Steel Tight-Tolerance Metric Rod 4 mm Diameter, 3' Length
 +
:Cost: $6.10
 +
*Joint between swings and mounting blocks
 +
 
=====Dribbler shaft=====
 
=====Dribbler shaft=====
 +
:Vendor: McMaster-Carr
 +
:Part No.: 8116K3
 +
:Description: A2 Tool Steel Tight-Tolerance Metric Rod 4 mm Diameter, 3' Length
 +
:Cost: $6.10
 +
*Roller and dribbler gear spin on dribbler shaft
 +
*Material is shared with the hinge shaft
  
 
===Spring===
 
===Spring===
−
=====Torsion spring=====
+
=====Left Torsion Spring=====
 +
:Vendor: McMaster-Carr
 +
:Part No.: 9271K35
 +
:Description: 1.375 lbf-in of torque. Music Wire Torsion Spring 90 Deg Angle, .309" Coil OD, .040" Wire, Cw/Lh, Packs of 6
 +
:Cost: $6.56 for 6
 +
*Left hand wound torsion spring
 +
*Rests on hinge shaft and provides cushioning for ball impact
 +
 
 +
=====Right Torsion Spring=====
 +
:Vendor: McMaster-Carr
 +
:Part No.: 9271K33
 +
:Description: 1.375 lbf-in of torque. Music Wire Torsion Spring 90 Deg Angle, .309" Coil OD, .040" Wire, Cw/Rh, Packs of 6
 +
:Cost: $6.56 for 6
 +
*Right hand wound torsion spring
 +
*Rests on hinge shaft and provides cushioning for ball impact
  
 
===Other===
 
===Other===
Line 84: Line 130:
 
:Description: Metric Nylon Snap-in Thrust Bearing for 4mm Shaft Dia, 1.45-2.34 mm Sheet Metal Thick
 
:Description: Metric Nylon Snap-in Thrust Bearing for 4mm Shaft Dia, 1.45-2.34 mm Sheet Metal Thick
 
:Cost: $1.32 each
 
:Cost: $1.32 each
−
 
 
*supports dribbler shaft in the swing
 
*supports dribbler shaft in the swing
  

Revision as of 15:15, 29 December 2007

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

Robocup 2008 Mechanical

Assembly Structure

Parts & Components

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

Cost: $200.40 each

  • Electrical specification
    • 12 Volts
    • must have position or speed encoders
    • brushless DC

Gears

Motor gear
Vendor: SDP/SI
Part No.: A 1B 2MYK05030H
Description: 3mm bore, 30 teeth, 15mm pitch diameter, brass gear with set screw
Cost: $6.72
Drawing:Motor Gear Spec Sheet
  • Connects directly to output of motor and powers dribbler roller
Roller gear
Vendor: SDP/SI
Part No.: A 1B 2MYK08020
Description: 4mm bore, 20 teeth, 16mm pitch diameter, brass gear with set screw
Cost: $9.12
Drawing:Dribbler Gear Spec Sheet
  • Roller gear needs be turned down from 7mm face to 2mm face width
  • Powers the dribbler roller - is recessed into the roller itself

Plates

Swing
Vendor: McMaster-Carr
Part No.: 8885K13
Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
Cost: $21.73
  • Contains the roller shaft, the motor mounts, spacers, and hinge shafts
  • Material is same and shared with Omniwheel plates
  • Left and right swings are identical
Motor plate
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

Standoffs

Standoff
Vendor: McMaster-Carr
Part No.:
Description:
Cost:
  • Standoff between swing and motor plate
Hex Standoff
Vendor: McMaster-Carr
Part No.:
Description:
Cost:
  • Hex standoff between motor plate and swing
  • Both torsion springs anchor into the standoff

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
  • Connects the swing and hex standoff

=====6-32 x 3/4" socket cap screw

Vendor: McMaster-Carr
Part No.: 93615A217
Description: 6-32 x 3/4" 18-8 stainless steel, low profile, socket cap screw
Cost: $12.72 for 25
  • Connects the swing, motor plate, and hex standoff

Shaft

Hinge shaft
Vendor: McMaster-Carr
Part No.: 8116K3
Description: A2 Tool Steel Tight-Tolerance Metric Rod 4 mm Diameter, 3' Length
Cost: $6.10
  • Joint between swings and mounting blocks
Dribbler shaft
Vendor: McMaster-Carr
Part No.: 8116K3
Description: A2 Tool Steel Tight-Tolerance Metric Rod 4 mm Diameter, 3' Length
Cost: $6.10
  • Roller and dribbler gear spin on dribbler shaft
  • Material is shared with the hinge shaft

Spring

Left Torsion Spring
Vendor: McMaster-Carr
Part No.: 9271K35
Description: 1.375 lbf-in of torque. Music Wire Torsion Spring 90 Deg Angle, .309" Coil OD, .040" Wire, Cw/Lh, Packs of 6
Cost: $6.56 for 6
  • Left hand wound torsion spring
  • Rests on hinge shaft and provides cushioning for ball impact
Right Torsion Spring
Vendor: McMaster-Carr
Part No.: 9271K33
Description: 1.375 lbf-in of torque. Music Wire Torsion Spring 90 Deg Angle, .309" Coil OD, .040" Wire, Cw/Rh, Packs of 6
Cost: $6.56 for 6
  • Right hand wound torsion spring
  • Rests on hinge shaft and provides cushioning for ball impact

Other

4mm snap thrust bearing
Vendor: McMaster-Carr
Part No.:7817K33
Description: Metric Nylon Snap-in Thrust Bearing for 4mm Shaft Dia, 1.45-2.34 mm Sheet Metal Thick
Cost: $1.32 each
  • supports dribbler shaft in the swing

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

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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