RC09-Omni

As part of the RoboCup 2009 Mechanical, the Omni Wheels allow the robots to move in any direction at anytime.

2009 RoboJackets RoboCup Omni Wheel

Assembly Structure

Tools needed

3 axis CNC Mill

WaterJet

Hex Keys

Press

CNC Lathe(parts are outsourced)

Instructions

1. 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
2. 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.

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

Fabrication

Omni Plates

Can be done in house on Haas for prototype.

Fleet should be water jetted.

Omni Bodies

In House on Haas VF-2

Omni Rollers

MFG.com - CNC Lathe Required

Action Log

1. 10/19/2008 - Initial revised roller design completed.
2. 11/02/2008 - Added new groove style for new rollers.
3. 11/09/2008 - Refined roller design.
4. 12/30/2008 - Resized to match internal gear dimensions.
5. 01/13/2009 - Added fillets.
6. 02/01/2009 - Drawing for rollers produced and ready to be posted for quote.
7. 02/22/2009 - Design for prototype completed.
8. 03/15/2009 - Rollers posted to mfg.com for quote.
9. 03/17/2009 - Design revised. Internal gear added to omni body.
10. 03/25/2009 - Supplier for rollers selected.
11. 04/08/2009 - All 400 Rollers arrive for omni wheels.
12. 05/05/2009 - 1/2 of rollers are assembled.
13. 07/18/2009 - Omni bodies CAM'd.
14. 01/26/2010 - Omni plates for prototype water jetted.
15. 02/03/2010 - Tooling required to make omni bodies arrives.
16. 02/13/2010 - First omni body completed. Problems encountered with automated tapping of 6-32s.
17. 03/20/2010 - Last omni body for prototype made.
18. 03/23/2010 - Revisions made to omni design to allow for better draining of retaining compound, symmetrical plate positioning, and new bearings.
19. 04/03/2010 - First fleet omni body made. Process is down to 2hrs.