Difference between revisions of "RC09-Omni"
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As part of the [[RoboCupMechanical|RoboCup 2009 Mechanical]], the Omni Wheels allow the robots to move in any direction at anytime. | As part of the [[RoboCupMechanical|RoboCup 2009 Mechanical]], the Omni Wheels allow the robots to move in any direction at anytime. | ||
| − | [[Image: | + | [[Image:RC2009OmniWheelRender.jpg|thumb|right|2009 RoboJackets RoboCup Omni Wheel]] |
==Drawings== | ==Drawings== | ||
| + | [[Image:OmniWheel_Explosion.jpg|400px]] | ||
| − | == | + | ==Assembly Structure== |
| − | |||
| − | |||
| − | + | ||
==Parts & Components== | ==Parts & Components== | ||
| − | Amounts are based on per robot. Materials are in sizes for prototyping not lowest cost per | + | Amounts are based on per robot. Materials are in sizes for prototyping not lowest cost per robot volume pricing if available is in parenthesis. |
===Stock=== | ===Stock=== | ||
| Line 23: | Line 22: | ||
=====Plate - Wheel Body===== | =====Plate - Wheel Body===== | ||
:Vendor - McMaster-Carr | :Vendor - McMaster-Carr | ||
| − | :Part No. - | + | :Part No. - 9246K23 |
| − | :Cost - $ | + | :Cost - $28.51 |
| − | :Description - Alloy | + | :Description - Multipurpose Aluminum (Alloy 6061) 3/8" Thick, 12" X 12" |
| − | |||
=====Shaft - Rollers===== | =====Shaft - Rollers===== | ||
| Line 47: | Line 45: | ||
:Cost - $43.08 (per 100) | :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 | :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 | ||
| + | |||
| + | =====1/16" Dowel Pin===== | ||
| + | :Vendor - MSC | ||
| + | :Part No. - 88231196 | ||
| + | :Cost - $19.83 (per 100) | ||
| + | :Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 1/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright | ||
===Other=== | ===Other=== | ||
| Line 56: | Line 60: | ||
:Description - Neoprene O-Ring AS568A Dash Number 012 | :Description - Neoprene O-Ring AS568A Dash Number 012 | ||
| − | + | ==Assembly== | |
| − | == | + | ====Tools needed==== |
| − | ===== | + | :3 axis CNC Mill |
| − | + | :WaterJet | |
| − | ===== | + | :Hex Keys |
| − | + | :Press | |
| − | + | :CNC Lathe(parts are outsourced) | |
| − | ===== | + | ====Instructions==== |
| − | + | =====Fabrication===== | |
| + | #The Omni body is fabricated through the use of the HAAS a 3 axis CNC Mill. The 3/8'' plate is used for this process | ||
| + | #The Omni Plate or Wheel plate is made with the Waterjet using the .063'' 7075 aluminum sheet. | ||
| + | ##Due to the Omni Plates being quite small it is advised that you connect at least 2 together and then grinding away the small connection. | ||
| + | #The omni rollers are outsourced. If one has access to a CNC lathe then one could fabricate one's own. | ||
| + | #The planetary gear is also outsourced. | ||
| + | =====Assembly===== | ||
| + | # Put o-rings in the groove in the rollers and press the 1/16'' dowel pins into the hole. | ||
| + | # Use the press to press the bearing into the center hole of the omni body and the dowel pins into the 3 holes surrounding it. | ||
| + | # On the back of the omni body place the plastic inserts into the small holes. | ||
| + | # Attach the planetary gear by screwing in the 0-80 screws into the plastic inserts. | ||
| + | # Place rollers with o-rings and dowel pins into the grooves on the omni body | ||
| + | # Fit plate on top of the omni body and secure it by screwing in the 6-32x1/4 screws. | ||
==Cost Estimates== | ==Cost Estimates== | ||
| Line 72: | Line 88: | ||
# 11/02/2008 - Added new groove style for new rollers. | # 11/02/2008 - Added new groove style for new rollers. | ||
# 11/09/2008 - Refined roller design. | # 11/09/2008 - Refined roller design. | ||
| + | # 12/30/2008 - Resized to match internal gear dimensions. | ||
| + | # 01/13/2009 - Added fillets. | ||
| + | # 02/01/2009 - Drawing for rollers produced and ready to be posted for quote. | ||
| + | # 02/22/2009 - Design for prototype completed. | ||
| + | # 03/15/2009 - Rollers posted to mfg.com for quote. | ||
| + | # 03/17/2009 - Design revised. Internal gear added to omni body. | ||
| + | # 03/25/2009 - Supplier for rollers selected. | ||
| + | # 04/08/2009 - All 400 Rollers arrive for omni wheels. | ||
| + | # 05/05/2009 - 1/2 of rollers are assembled. | ||
| + | # 07/18/2009 - Omni bodies CAM'd. | ||
| + | # 01/26/2010 - Omni plates for prototype water jetted. | ||
| + | # 02/03/2010 - Tooling required to make omni bodies arrives. | ||
| + | # 02/13/2010 - First omni body completed. Problems encountered with automated tapping of 6-32s. | ||
| + | # 03/20/2010 - Last omni body for prototype made. | ||
| + | # 03/23/2010 - Revisions made to omni design to allow for better draining of retaining compound, symmetrical plate positioning, and new bearings. | ||
| + | # 04/03/2010 - First fleet omni body made. Process is down to 2hrs. | ||
| − | + | [[Category: RC Mechanical]] | |
| − | [[Category: | + | [[Category:2008-2009]] |
Latest revision as of 19:51, 24 May 2020
As part of the RoboCup 2009 Mechanical, the Omni Wheels allow the robots to move in any direction at anytime.
Contents
Drawings
Assembly Structure
Parts & Components
Amounts are based on per robot. Materials are in sizes for prototyping not lowest cost per robot volume pricing if available is in parenthesis.
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. - 9246K23
- Cost - $28.51
- Description - Multipurpose Aluminum (Alloy 6061) 3/8" Thick, 12" X 12"
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
1/16" Dowel Pin
- Vendor - MSC
- Part No. - 88231196
- Cost - $19.83 (per 100)
- Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 1/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright
Other
O-Ring
- Vendor - McMaster-Carr
- Part No. - 94115K012
- Cost - $2.87 (Pks of 100)
- Quantity -
- Description - Neoprene O-Ring AS568A Dash Number 012
Assembly
Tools needed
- 3 axis CNC Mill
- WaterJet
- Hex Keys
- Press
- CNC Lathe(parts are outsourced)
Instructions
Fabrication
- The Omni body is fabricated through the use of the HAAS a 3 axis CNC Mill. The 3/8 plate is used for this process
- The Omni Plate or Wheel plate is made with the Waterjet using the .063 7075 aluminum sheet.
- Due to the Omni Plates being quite small it is advised that you connect at least 2 together and then grinding away the small connection.
- The omni rollers are outsourced. If one has access to a CNC lathe then one could fabricate one's own.
- The planetary gear is also outsourced.
Assembly
- Put o-rings in the groove in the rollers and press the 1/16 dowel pins into the hole.
- Use the press to press the bearing into the center hole of the omni body and the dowel pins into the 3 holes surrounding it.
- On the back of the omni body place the plastic inserts into the small holes.
- Attach the planetary gear by screwing in the 0-80 screws into the plastic inserts.
- Place rollers with o-rings and dowel pins into the grooves on the omni body
- Fit plate on top of the omni body and secure it by screwing in the 6-32x1/4 screws.
Cost Estimates
Action Log
- 10/19/2008 - Initial revised roller design completed.
- 11/02/2008 - Added new groove style for new rollers.
- 11/09/2008 - Refined roller design.
- 12/30/2008 - Resized to match internal gear dimensions.
- 01/13/2009 - Added fillets.
- 02/01/2009 - Drawing for rollers produced and ready to be posted for quote.
- 02/22/2009 - Design for prototype completed.
- 03/15/2009 - Rollers posted to mfg.com for quote.
- 03/17/2009 - Design revised. Internal gear added to omni body.
- 03/25/2009 - Supplier for rollers selected.
- 04/08/2009 - All 400 Rollers arrive for omni wheels.
- 05/05/2009 - 1/2 of rollers are assembled.
- 07/18/2009 - Omni bodies CAM'd.
- 01/26/2010 - Omni plates for prototype water jetted.
- 02/03/2010 - Tooling required to make omni bodies arrives.
- 02/13/2010 - First omni body completed. Problems encountered with automated tapping of 6-32s.
- 03/20/2010 - Last omni body for prototype made.
- 03/23/2010 - Revisions made to omni design to allow for better draining of retaining compound, symmetrical plate positioning, and new bearings.
- 04/03/2010 - First fleet omni body made. Process is down to 2hrs.
