Difference between revisions of "RC08-Dribbler"
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Revision as of 16:39, 29 December 2007
This page contains the information and documentation of the 2008 dribbler system
Contents
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 |
| 3/8" Washer | RC-2008-04-20 | 1 |
| Neoprene Rubber Tube | RC-2008-04-21 | 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 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
- 266521
- http://test.maxonmotor.com/docsx/Download/catalog_2007/Pdf/07_154_e.pdf
- nominal speed 28200 rpm
- Gearhead
- 118184 - Maxon
- http://test.maxonmotor.com/docsx/Download/catalog_2007/Pdf/07_215_e.pdf
- reduction 5.4:1
- nominal dribbler bar speed = 28200/5.4*1.5 = 7833 RPM. It is, of course, adjustable by software.
