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== | ||
− | + | ====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== | ==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. | ||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
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+ | ===Stock=== | ||
=====Plate - Wheel Plate===== | =====Plate - Wheel Plate===== | ||
:Vendor - McMaster-Carr | :Vendor - McMaster-Carr | ||
:Part No. - 8885K13 | :Part No. - 8885K13 | ||
− | :Cost - $21. | + | :Cost - $21.63 |
− | |||
: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 | ||
− | |||
: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 | ||
− | |||
: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=== |
− | :Vendor - | + | =====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: | + | [[Category: RC Mechanical]] |
+ | [[Category:2007-2008]] |
Latest revision as of 20:50, 24 May 2020
As part of the RoboCup 2008 Mechanical, the Omni Wheels allow the robots to move in any direction at anytime.
Contents
Drawings
Materials
- Body
- Aluminum 7075
- 1/2"
- 1/16"
- Aluminum 7075
- 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
- McMaster: Neoprene O-Ring AS568A Dash Number 012 (94115K012)
- Aluminum 7075
- 1/8"
- Neoprene O-Rings
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
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.
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.