RC09-DriveModule

As part of the RoboCup 2009 Mechanical, Drive Modules integrate the motor, gearbox and omniwheel in to one modular assembly.

2009 RoboJackets RoboCup Drive Module

Parts & Components

Motors and Encoders

Brushless Motors

Vendor - Maxon

Part No. - 200142

Cost - $50.53(EUR)

Description - EC 45 flat Ø45 mm, brushless, 30 Watt

Encoders

Vendor - US Digital

Part No. - E4P-360-157-D-D-D-B

Cost - $22.95 ($18.04)

Description - E4P OEM Miniature Optical Kit Encoder Spec

Note - Vendor supplied 3-48 x 1/4" screws are not long enough.

Gears & Bearings

Motor Output Gear

Vendor - SDP/SI

Part No. - S1VS05M016F0704

Cost - $22.06 ($18.16)

Description - Module 0.5, 16 Teeth, 20° Pressure Angle, 303 Stainless Steel Gear

Motor Output Gear (Option B)

Supplied with motor

Motor Output Gear (Option C)

Pinion shaft installed by us.

Internal Gear

Vendor - SDP/SI

Part No. - S1E05ZM05S072

Cost - $31.10 ($28.48)

Description - Module 0.5, 72 TEETH, 20° Pressure Angle, 303 Stainless Steel, INTERNAL GEAR

Bearing (1/4" Shaft)

Vendor - Grainger

Part No. - 1ZEJ7

Cost - $5.59 Each

Description - Miniature Ball Bearing, Open, Flanged, Bore Dia 0.2500 In, Outside Dia 0.5000 In, Width 0.1250 In, Flange Dia 0.5470 In, Flange Thickness 0.0230 In, ABEC Level 3

Info - Web Link

Stock

Al Plate 1/8"

Vendor - McMaster-Carr

Part No. - 89015K18

Cost - $26.06

Description - Alloy 6061 Aluminum Sheet .125" Thick, 12" X 12"

Al Plate 0.16"

Vendor - McMaster-Carr

Part No. - 89015K17

Cost - $16.66

Description - Alloy 6061 Aluminum Sheet .016" Thick, 6" X 48"

Al Plate 0.05"

Vendor - McMaster-Carr

Part No. - 8885K18

Cost - $35.62 Each

Description - Alloy 7075 Aluminum Sheet .050" Thick, 12" X 24"

Note - 7075 b/c we have left over from last year other wise 6061.

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

3-48 x 3/8"

Vendor - McMaster-Carr

Part No. - 91772A094

Cost - $8.60 (Packs of 100)

Description - 18-8 SS Pan Head Phillips Machine Screw 3-48 Thread, 3/8" Length

3-48 Nylon Lock Nut

Vendor - McMaster-Carr

Part No. - 90631A004

Cost - $9.27 (Pack of 100)

Description - Grade 2 Znc-Pltd Stl Nylon-Insert Hex Locknut 3-48 Thread Size, 1/4" Width, 9/64" Height

M3 x 6 Metric Flat Head Socket Cap Screw

Vendor - McMaster-Carr

Part No. - 91294A126

Cost - $6.76 (pk 100)

Description - Metric Flat Head Socket Cap Screw Class 10.9 Stl, M3 Size, 6mm Length, .50mm Pitch (Needs 90 deg countersink)

1/16" Locating Pins

Vendor - MSC Industrial Supply

Part No. - 06020010

Cost - $8.49 (pk 100)

Description - Precision Ground Dowel Pins - Alloy Steel Type: Dowel Pin Diameter: 1/16 Overall Length: 1/4 Material: Alloy Steel - Grade 8 Finish/Coating: Bright

6-32 3/4" Standoffs

Vendor - Digi-Key

Part No. - 2211K-ND

Cost - $6.14 (pk 10) $55.83 (pk 100)

Description - STANDOFF HEX 6-32THR ALUM .750"

Action Log

1. 12/29/2008 - Internal gears selected.
2. 12/30/2008 - Initial design of gear box completed.
3. 01/11/2009 - Removed mass and moved to 1/8" plate for motor mounting.
4. 01/12/2009 - Dropped 8-32 screws to 6-32, and made treading full on hex..
5. 01/13/2009 - Confirmed that Maxon does offer custom shafts for motors and added current materials to wiki.
6. 01/25/2009 - Preliminary encoder selected.
7. 01/26/2009 - Initial design with a encoder completed.