Difference between revisions of "RC08-Dribbler"

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==Assembly Structure==
 
==Assembly Structure==
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{| border="1" cellpadding="2"
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!width="225"|Part Name
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!width="225"|Part Number
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!width="50"|Quantity
 +
|-
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|Mounting Block || RC-2008-04-01 || 2
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|-
 +
|-
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|Swing|| RC-2008-04-02 || 2
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|-
 +
|-
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|Motor Plate || RC-2008-04-03 || 1
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|-
 +
|-
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|Standoff || RC-2008-04-04 || 2
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|-
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|-
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|Hinge Shaft || RC-2008-04-05 || 1
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|-
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|-
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|8-32 Lock Nut || RC-2008-04-06 || 4
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|-
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|-
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|2" Hex Standoff|| RC-2008-04-07 || 1
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|-
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|-
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|Dribbler Motor || RC-2008-04-08 || 1
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|-
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|-
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|M2x5 Screw || RC-2008-04-09 || 2
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|-
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|-
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|Dribbler Motor Gear || RC-2008-04-10 || 1
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|-
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|-
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|6-32 x 3/4 Screw || RC-2008-04-11 || 1
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|-
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|-
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|Cross Plate || RC-2008-04-12 || 1
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|-
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|-
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|4mm Snap Bearing|| RC-2008-04-13 || 2
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|-
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|-
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|Dribbler Shaft || RC-2008-04-14 || 1
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|-
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|-
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|Dribbler Roller || RC-2008-04-15 || 1
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|-
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|-
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|Dribbler Roller Gear || RC-2008-04-16 || 1
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|-
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|-
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|Left Torsion Spring || RC-2008-04-17 || 1
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|-
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|-
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|Right Torsion Spring || RC-2008-04-18 || 1
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|-
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|-
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|6-32 x 1/4 Screw || RC-2008-04-19 || 1
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|-
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|}
  
  
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*Connects the swing and hex standoff
 
*Connects the swing and hex standoff
  
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=====6-32 x 3/4" socket cap screw
+
=====6-32 x 3/4" socket cap screw=====
 
:Vendor: McMaster-Carr
 
:Vendor: McMaster-Carr
 
:Part No.: 93615A217
 
:Part No.: 93615A217

Revision as of 15:43, 29 December 2007

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

Robocup 2008 Mechanical

Assembly Structure

Part Name Part Number Quantity
Mounting Block RC-2008-04-01 2
Swing RC-2008-04-02 2
Motor Plate RC-2008-04-03 1
Standoff RC-2008-04-04 2
Hinge Shaft RC-2008-04-05 1
8-32 Lock Nut RC-2008-04-06 4
2" Hex Standoff RC-2008-04-07 1
Dribbler Motor RC-2008-04-08 1
M2x5 Screw RC-2008-04-09 2
Dribbler Motor Gear RC-2008-04-10 1
6-32 x 3/4 Screw RC-2008-04-11 1
Cross Plate RC-2008-04-12 1
4mm Snap Bearing RC-2008-04-13 2
Dribbler Shaft RC-2008-04-14 1
Dribbler Roller RC-2008-04-15 1
Dribbler Roller Gear RC-2008-04-16 1
Left Torsion Spring RC-2008-04-17 1
Right Torsion Spring RC-2008-04-18 1
6-32 x 1/4 Screw RC-2008-04-19 1


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
Cross Plate
Vendor: McMaster-Carr
Part No.: 8885K13
Description: Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
Cost: $21.73
  • Connects both mounting blocks and provides mechanical limitation for swing and torsion springs
  • Material is same and shared with Omniwheel plates

Standoffs

Standoff
Vendor: McMaster-Carr
Part No.: 9062K271
Description: Alloy 6061 Aluminum Precision-Ground Rod 5/16" Diameter, 1' Length
Cost: $9.10
  • Standoff between swing and motor plate
Hex Standoff
Vendor: McMaster-Carr
Part No.: 91780A339
Description: Aluminum Female Threaded Hex Standoff 1/4" Hex, 2" Length, 6-32 Screw Size
Cost: $.88
  • 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

Springs

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

Mounting block
Vendor: McMaster-Carr
Part No.: 3511T11
Description: Alloy 6061 Aluminum Ground Flat Stock .250" Thick, 6" X 6" Size
Cost: $45.44 each - STOCK
  • Connects entire dribbler assembly to the robot
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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