RC09-DriveModule
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As part of the RoboCup 2009 Mechanical, Drive Modules integrate the motor, gearbox and omniwheel in to one modular assembly.
Contents
Assembly Structure
Parts List
Instructions
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
0-80 x 1/4"
- 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
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
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 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"
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)
1/8" 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
- 12/29/2008 - Internal gears selected.
- 12/30/2008 - Initial design of gear box completed.
- 01/11/2009 - Removed mass and moved to 1/8" plate for motor mounting.
- 01/12/2009 - Dropped 8-32 screws to 6-32, and made treading full on hex..
- 01/13/2009 - Confirmed that Maxon does offer custom shafts for motors and added current materials to wiki.
- 01/25/2009 - Preliminary encoder selected.
- 01/26/2009 - Initial design with a encoder completed.
