Difference between revisions of "RC08Omni"

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As part of the [[RoboCupMechanical|RoboCup 2008 Mechanical]], the Omni Wheels allow the robots to move in any direction at anytime.
 +
[[Image:RC2008OmniWheel.jpg|thumb|right|2008 RoboJackets RoboCup Omni Wheel]]
 +
 
==Drawings==
 
==Drawings==
  
 
==Materials==
 
==Materials==
−
* Aluminum 7075
+
* Body
−
** 1/2"
+
*# Aluminum 7075
−
** 1/16"
+
*#* 1/2"
−
* Neoprene O-Rings
+
*#* 1/16"
 +
* Rollers
 +
*# Neoprene O-Rings  
 +
*#* McMaster: Neoprene O-Ring AS568A Dash Number 012 (94115K012)
 +
*#** Pks of 100 for $2.87
 +
*#** Total Needed = (15*4*5)/100 = 3 + 1 = 4pks
 +
*# Aluminum 7075
 +
*#* 1/8"
 +
 
 +
==Assembly Structure==
 +
====Parts List====
 +
# 15 - Rollers (RC-2008-01-00)
 +
## 1 - O-Ring (RC-2008-01-01)
 +
## 1 - Roller Hub (RC-2008-01-02)
 +
# 1 - Wheel Body (RC-2008-02-01)
 +
# 1 - Plate (RC-2008-02-02)
 +
# 1 - Ring / Axel (RC-2008-02-03)
 +
# 3 - 6-32 1/4" Long (RC-2008-07-04)
 +
 
 +
====Instructions====
 +
# Place 15 rollers on wire axle.
 +
# Bend to circular shape.
 +
# Drop in omni body.
 +
# Place omni plate on omni body.
 +
# Fasten using RC-2008-07-04
 +
 
 +
==Parts & Components==
 +
Amounts are based on per robot. Materials are in sizes for prototyping not lowest cost per amount.
 +
 
 +
===Stock===
 +
=====Plate - Wheel Plate=====
 +
:Vendor - McMaster-Carr
 +
:Part No. - 8885K13
 +
:Cost - $21.63
 +
:Description - Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
 +
 
 +
=====Plate - Wheel Body=====
 +
:Vendor - McMaster-Carr
 +
:Part No. - 9037K21
 +
:Cost - $158.77
 +
:Description - Alloy 7075 Aluminum Sheet .500" Thick, 12" X 12"
 +
:''Note: will look at thinner and optimize sheet size to a per robot amount''
 +
 
 +
=====Shaft - Rollers=====
 +
:Vendor - McMaster-Carr
 +
:Part No. - 9063K243
 +
:Cost -  $17.48
 +
:Description - Alloy 7075 Aluminum Precision Ground Rod 1/8" Diameter, 3' Length
 +
:''Note: Usually ships within 2 weeks.''
 +
 
 +
===Fasteners===
 +
=====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
 +
 
 +
=====3/16" Dowel Pin=====
 +
:Vendor - MSC
 +
:Part No. - 88231758
 +
:Cost - $43.08 (per 100)
 +
:Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 3/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright
 +
 
 +
===Other===
 +
=====O-Ring (option 1)=====
 +
:Vendor - McMaster-Carr
 +
:Part No. - 94115K012
 +
:Cost - $2.87 (Pks of 100)
 +
:Quantity -
 +
:Description - Neoprene O-Ring AS568A Dash Number 012
 +
 
 +
=====O-Ring (option 2)=====
 +
:Vendor - McMaster-Carr
 +
:Part No. - 90025K137
 +
:Cost - $9.70 (Pks 100)
 +
:Quantity -
 +
:Description - Double Seal Buna-N O-Ring AS568A Dash Number 012
 +
 
 +
=====Axel / Wire=====
 +
:Vendor - McMaster-Carr
 +
:Part No. - 9666K69
 +
:Cost - $2.93
 +
:Description - 1080-1090 Carbon Steel Wire .059" Diameter, 1/4-lb Coil, 27' Coil
  
 
==Fabrication==
 
==Fabrication==
 +
=====Omni Plates=====
 +
: Primary - Water Jetting (Outsourced)
 +
: Notes
 +
:: Alignment holes will need to be reamed out.
 +
 +
=====Omni Bodies=====
 +
: Primary - Milling (Outsourced)
 +
: Notes -
 +
:: Hex broaching
 +
:: Press fitting in dowel pins.
 +
 +
=====Omni Rollers=====
 +
: Primary - Turning / Lathing (Outsourced)
 +
: Notes
 +
:: We will apply o-rings.
 +
 +
==Cost Estimates==
 +
# Rollers - $0.42 x 15 = $6.30
 +
# Body - $4.00
 +
# O-rings - $0.03 x 15 = $0.45
 +
# Plate -
 +
# Fasteners - $0.30 x 3 = $0.90
 +
: '''Total''' - $11.65 (missing plate)
 +
:: ''Note - Shipping is included in per unit cost.''
  
−
==Cost==
+
==Action Log==
 +
# 12/04/2007 - RC-2008-PO-02 - Purchase Order for Omni Roller Hub Samples (Option A & B).
 +
# 12/14/2007 - RC-2008-PO-01 - Purchase Order for Omni Body Prototypes.
 +
# 12/28/2007 - Fabrication of Omni Plates completed.
 +
# 12/28/2007 - Full omni prototype completed.
 +
#: Notes - Very hard to get axle wire in to omni bodies must find new material.
 +
# 12/28/2007 - Roller Option A revised and selected for prototype set.
 +
#: Notes - Option B (square) is cheaper and requires a costs analysis change in dimension and different roller material may be required.
 +
# 12/29/2007 - RC-2008-PO-03 - Purchase Order for Omni Roller Hub (Rev 2).
 +
# 12/31/2007 - Looking at 8867K25, 9495K92 for alternate wire.
 +
# 01/29/2007 - Keeping original wire.
 +
# 03/05/2007 - Omni rollers finalized.
 +
# 03/08/2008 - Omni rollers sent out. (20 cents each)
 +
# 03/17/2008 - Investigating the use dowel pins to cut down on machining costs.
 +
# 03/30/2008 - Designs for body are finalized and sent out to supplier.
 +
#: Notes - Dowel / locating pins, relaxing tolerances, a new supplier, and hex broaching our selves have brought down the machining cost to around $4 per body (prototype $53).
 +
# 04/13/2008 - Fleet rollers arrive and are fitted with o-rings.
 +
# 05/14/2008 - Fleet bodies arrive, are hex'd, and have locating pins pressed in.
 +
#: Notes - A few were damaged in process a fitting for press was made, and replacements ordered.
  
−
[[Category: RoboCup]] [[Category: 2008]]
+
[[Category: RC Mechanical]]
 +
[[Category:2007-2008]]

Latest revision as of 19:50, 24 May 2020

As part of the RoboCup 2008 Mechanical, the Omni Wheels allow the robots to move in any direction at anytime.

2008 RoboJackets RoboCup Omni Wheel

Drawings

Materials

  • Body
    1. Aluminum 7075
      • 1/2"
      • 1/16"
  • Rollers
    1. Neoprene O-Rings
      • McMaster: Neoprene O-Ring AS568A Dash Number 012 (94115K012)
        • Pks of 100 for $2.87
        • Total Needed = (15*4*5)/100 = 3 + 1 = 4pks
    2. Aluminum 7075
      • 1/8"

Assembly Structure

Parts List

  1. 15 - Rollers (RC-2008-01-00)
    1. 1 - O-Ring (RC-2008-01-01)
    2. 1 - Roller Hub (RC-2008-01-02)
  2. 1 - Wheel Body (RC-2008-02-01)
  3. 1 - Plate (RC-2008-02-02)
  4. 1 - Ring / Axel (RC-2008-02-03)
  5. 3 - 6-32 1/4" Long (RC-2008-07-04)

Instructions

  1. Place 15 rollers on wire axle.
  2. Bend to circular shape.
  3. Drop in omni body.
  4. Place omni plate on omni body.
  5. Fasten using RC-2008-07-04

Parts & Components

Amounts are based on per robot. Materials are in sizes for prototyping not lowest cost per amount.

Stock

Plate - Wheel Plate
Vendor - McMaster-Carr
Part No. - 8885K13
Cost - $21.63
Description - Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
Plate - Wheel Body
Vendor - McMaster-Carr
Part No. - 9037K21
Cost - $158.77
Description - Alloy 7075 Aluminum Sheet .500" Thick, 12" X 12"
Note: will look at thinner and optimize sheet size to a per robot amount
Shaft - Rollers
Vendor - McMaster-Carr
Part No. - 9063K243
Cost - $17.48
Description - Alloy 7075 Aluminum Precision Ground Rod 1/8" Diameter, 3' Length
Note: Usually ships within 2 weeks.

Fasteners

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
3/16" Dowel Pin
Vendor - MSC
Part No. - 88231758
Cost - $43.08 (per 100)
Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 3/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright

Other

O-Ring (option 1)
Vendor - McMaster-Carr
Part No. - 94115K012
Cost - $2.87 (Pks of 100)
Quantity -
Description - Neoprene O-Ring AS568A Dash Number 012
O-Ring (option 2)
Vendor - McMaster-Carr
Part No. - 90025K137
Cost - $9.70 (Pks 100)
Quantity -
Description - Double Seal Buna-N O-Ring AS568A Dash Number 012
Axel / Wire
Vendor - McMaster-Carr
Part No. - 9666K69
Cost - $2.93
Description - 1080-1090 Carbon Steel Wire .059" Diameter, 1/4-lb Coil, 27' Coil

Fabrication

Omni Plates
Primary - Water Jetting (Outsourced)
Notes
Alignment holes will need to be reamed out.
Omni Bodies
Primary - Milling (Outsourced)
Notes -
Hex broaching
Press fitting in dowel pins.
Omni Rollers
Primary - Turning / Lathing (Outsourced)
Notes
We will apply o-rings.

Cost Estimates

  1. Rollers - $0.42 x 15 = $6.30
  2. Body - $4.00
  3. O-rings - $0.03 x 15 = $0.45
  4. Plate -
  5. Fasteners - $0.30 x 3 = $0.90
Total - $11.65 (missing plate)
Note - Shipping is included in per unit cost.

Action Log

  1. 12/04/2007 - RC-2008-PO-02 - Purchase Order for Omni Roller Hub Samples (Option A & B).
  2. 12/14/2007 - RC-2008-PO-01 - Purchase Order for Omni Body Prototypes.
  3. 12/28/2007 - Fabrication of Omni Plates completed.
  4. 12/28/2007 - Full omni prototype completed.
    Notes - Very hard to get axle wire in to omni bodies must find new material.
  5. 12/28/2007 - Roller Option A revised and selected for prototype set.
    Notes - Option B (square) is cheaper and requires a costs analysis change in dimension and different roller material may be required.
  6. 12/29/2007 - RC-2008-PO-03 - Purchase Order for Omni Roller Hub (Rev 2).
  7. 12/31/2007 - Looking at 8867K25, 9495K92 for alternate wire.
  8. 01/29/2007 - Keeping original wire.
  9. 03/05/2007 - Omni rollers finalized.
  10. 03/08/2008 - Omni rollers sent out. (20 cents each)
  11. 03/17/2008 - Investigating the use dowel pins to cut down on machining costs.
  12. 03/30/2008 - Designs for body are finalized and sent out to supplier.
    Notes - Dowel / locating pins, relaxing tolerances, a new supplier, and hex broaching our selves have brought down the machining cost to around $4 per body (prototype $53).
  13. 04/13/2008 - Fleet rollers arrive and are fitted with o-rings.
  14. 05/14/2008 - Fleet bodies arrive, are hex'd, and have locating pins pressed in.
    Notes - A few were damaged in process a fitting for press was made, and replacements ordered.
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