RC08-Dribbler

This page contains the information and documentation of the 2008 dribbler system

Robocup 2008 Mechanical

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

• MicroMo
• Motor Data Sheet
• Gearhead Data Sheet

• 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

Other

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.