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

Assembly Structure

Parts Structure

1. Inner Drive Plate
2. Omni Wheel
3. Output Axel
4. Spindle
   1. Internal Gear
   2. Bearing Plate
   3. Wheel Attachment Plate
   4. Hex Shaft

Parts List

1. 1 - Omni Wheel (RC-2009-02-00)
2. 1 - Maxon Brushless Drive Motor (RC-2009-03-01)
3. 1 - Drive Module Plate (RC-2009-03-02)
4. 1 - Shaft (RC-2009-03-03)
5. 1 - Internal Gear (RC-2009-03-04)
6. 3 - 5/8" Long Hex Standoffs (RC-2009- -)
7. 2 - 1/4" Ball Bearings (RC-2009-03-05) (RC-2008-03-08)

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-S-D-T-B

Cost - $26.39 ($20.75)

Description - E4P OEM Miniature Optical Kit Encoder Spec

Note - Vendor supplied 3-48 x 1/4" screws are not long enough for 0.05" plate. We have switched to transfer adhesive.

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

Internal Gear (Standard)(Supplier A)

Vendor - SDP/SI

Part No. - S1E62Z-072S110

Cost - $47.16 ($44.51)

Description - 72 DP, 110T, AGMA Q10, 303 STAINLESS STEEL INTERNAL GEAR

Internal Gear (Standard)(Supplier B)

Vendor - WM BERG

Part No. - N72S2-110

Cost - $46.25

Description - 72 DP, 110T, AGMA Q10, 303 STAINLESS STEEL INTERNAL GEAR

Internal Gear (Metric)(Supplier A)

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

Internal Gear (Metric)(Supplier B)

Vendor -

Part No. -

Cost -

Description -

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 0.05"

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

0-80 x 1/4" Button Head

Vendor - McMaster-Carr

Part No. - 92949A054

Cost - $9.30 (Packs of 50)

Description - 18-8 SS Button Head Socket Cap Screw 0-80 Thread, 1/4" Length

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

6-32 Socket Cap Counter Sunk Screw

Vendor - McMaster-Carr

Part No. - 91253A144

Cost - $9.91 (Packs of 100)

Description - Alloy Steel Flat Head Socket Cap Screw 6-32 Thread, 1/4" Length, Black Oxide

6-32 Button Head

Vendor - McMaster-Carr

Part No. - 92949A143

Cost - $7.88 (Packs of 100)

Description - 18-8 SS Button Head Socket Cap Screw 6-32 Thread, 3/16" Length

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"

10-32 Shoulder Bolt

Vendor - McMaster-Carr

Part No. - 94035A531

Cost - $2.08 (each)

Description - 18-8 SS Precision Hex Socket Shoulder Screw 1/4" Shoulder Dia, 1/8" L Shoulder, 10-32 Thread

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. - 88231196

Cost - $19.83 (pk 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

1/8" Locating Pins

Vendor - MSC Industrial Supply

Part No. - 88231469

Cost - $26.46 (pk 100)

Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 1/8 Overall Length: 3/16 Material: Stainless Steel - 416 SS Finish/Coating: Bright

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.
8. 02/02/2009 - Design revised. Attachment to bottom plate enhanced and encoder fully compensated for.
9. 02/22/2009 - Design for prototype completed.
10. 03/07/2009 - Design revised. Drive modules reshaped to accommodate capacitors.
11. 03/16/2009 - Gear posted to mfg.com for quote.
12. 03/17/2009 - Design revised. Spindle removed and internal gear placed on omni body.
13. 03/19/2009 - Plates reshaped to allow room for dribbler components.
14. 03/17/2009 - RFQ for internal gears posted on mfg.com.
15. 03/25/2009 - Supplier for initial run of internal gears selected.
16. 03/26/2009 - Have moved to reversing engineering and modifying drive motors in house.
17. 04/01/2009 - A spare drive motor from 2008 fleet was successfully disassembled and reassembled.
18. 04/02/2009 - Design of fixture for reassembling drive motors completed. Info can be found on the Drive Motor Fixture page.
19. 07/18/2009 - Drive plates have been CAM'd.
20. 07/28/2009 - Motor shaft modified to allow for better assembly.
21. 10/18/2009 - Encoder plate CAM'd up in waterjet software.
22. 11/01/2009 - Output shaft standoffs fabricated.
23. 12/23/2009 - Drive plates machined.
24. 01/26/2010 - Encoder plates water jetted.
25. 02/16/2010 - Drive module assembled and wheel wobble discovered.
26. 03/19/2010 - Output shafts modified and remade.
27. 03/20/2010 - All drive modules assembled and tested wheel wobble still persists.
28. 03/25/2010 - New shielded bearings arrive and installed. Wheel wobble has been mitigated.
29. 03/27/2010 - Drive modules now ready fleet.