RC08-Dribbler
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This page contains the information and documentation of the 2008 dribbler system
Contents
Motor
- Dribbler motor has been found and will be ordered soon (10/5/07)
- Source: MicroMo
- Motor: 12V DC brushless servo motor #E-1628B
- $147.10 each
- Planetary gearhead: #E-167 gear reduction: 14
- Complete assembly 1628-V-0003
- $200.40 each
- EE team's specification
- 12 Volts
- must have position or speed encoders
- brushless DC
Gearing
- Motor gear - SDP/SI A-1B-2MYK05030H
- $6.85 each, 3mm bore, 30 teeth, 15mm pitch diameter, brass gear with set screw
- Motor Gear Spec Sheet
- roller gear - SDP/SI A-1B-2MYK08020
- $9.12 each, 4mm bore, 20 teeth, 16mm pitch diameter, brass gear with set screw
- Dribbler Gear Spec Sheet
- Dribbler Roller Speed
- Example geared down dribbler bar speed used in CMU robots ~7800 RPM
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
Parts
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
Prototype A Costs
Unitized Costs
| Description | Quantity | Vendor | Vendor Part Number | Unit Price | Total Price |
|---|---|---|---|---|---|
| 12V Dribbler Motor and 14:1 Gearhead | 1 | MicroMo | 1628-V-0003 | 200.40 | 200.40 |
| Motor Gear | 1 | SDP-SI | A-1B-2MYK05030H | 6.85 | 6.85 |
| Roller Gear | 1 | SDP-SI | A-1B-2MYK08020 | 9.12 | 9.12 |
| 4mm snap-in thrust bearings | 2 | McMaster | 7817K33 | 1.32 | 2.64 |
| TOTAL UNIT COST | 219.01 |
| Description | Quantity | Vendor | Vendor Part Number | Unit Price | Total Price |
|---|---|---|---|---|---|
| .062" x 12" x 12" aluminum plate- STOCK | 1 | McMaster | 1651T21 | 21.47 | 0 |
| 3/8" x 3' steel shaft | 1 | McMaster | 9120K13 | 5.77 | 5.77 |
| 4mm x 36" steel shaft | 1 | McMaster | 88625K63 | 2.22 | 2.22 |
| 1/4" diameter x 36" aluminum shaft | 1 | McMaster | 6750K133 | 7.57 | 7.57 |
| 6-32 x 5/8" socket screw | 1 | McMaster | 91251A150 | 10.35 | 10.35 |
| 6-32 lock nut | 1 | McMaster | 90633A007 | 2.18 | 2.18 |
| TOTAL | 28.09 |
Dribbler Prototype Cost
- $247.10 for one prototype dribbler
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
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.
