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==
  
Line 15: Line 18:
  
 
==Assembly Structure==
 
==Assembly Structure==
−
* 15 Rollers (RC-2008-01-00)
+
====Parts List====
−
** 1 O-Ring (RC-2008-01-01)
+
# 15 - Rollers (RC-2008-01-00)
−
** 1 Roller Hub (RC-2008-01-02)
+
## 1 - O-Ring (RC-2008-01-01)
−
* 1 Wheel Body (RC-2008-02-01)
+
## 1 - Roller Hub (RC-2008-01-02)
−
* 1 Plate (RC-2008-02-02)
+
# 1 - Wheel Body (RC-2008-02-01)
−
* 1 Ring / Axel (RC-2008-02-03)
+
# 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==
 
==Parts & Components==
 
Amounts are based on per robot. Materials are in sizes for prototyping not lowest cost per amount.
 
Amounts are based on per robot. Materials are in sizes for prototyping not lowest cost per amount.
−
=====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
 
  
 +
===Stock===
 
=====Plate - Wheel Plate=====
 
=====Plate - Wheel Plate=====
 
:Vendor - McMaster-Carr
 
:Vendor - McMaster-Carr
 
:Part No. - 8885K13
 
:Part No. - 8885K13
−
:Cost - $21.36
+
:Cost - $21.63
−
:Quantity -
 
 
:Description - Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
 
:Description - Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
  
Line 49: Line 48:
 
:Part No. - 9037K21
 
:Part No. - 9037K21
 
:Cost - $158.77
 
:Cost - $158.77
−
:Quantity -
 
 
:Description - Alloy 7075 Aluminum Sheet .500" Thick, 12" X 12"
 
:Description - Alloy 7075 Aluminum Sheet .500" Thick, 12" X 12"
 
:''Note: will look at thinner and optimize sheet size to a per robot amount''
 
:''Note: will look at thinner and optimize sheet size to a per robot amount''
Line 57: Line 55:
 
:Part No. - 9063K243
 
:Part No. - 9063K243
 
:Cost -  $17.48
 
:Cost -  $17.48
−
:Quantity -
 
 
:Description - Alloy 7075 Aluminum Precision Ground Rod 1/8" Diameter, 3' Length
 
:Description - Alloy 7075 Aluminum Precision Ground Rod 1/8" Diameter, 3' Length
 
:''Note: Usually ships within 2 weeks.''
 
:''Note: Usually ships within 2 weeks.''
  
−
=====Fasteners=====
+
===Fasteners===
−
:Vendor - RoboJackets
+
=====6-32 Low Head Socket Cap Screw=====
−
:Description -
+
: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==
 
==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.''
 +
 +
==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 Mechanical]] [[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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