Difference between revisions of "RC08-Dribbler"

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(Prototype A Costs)
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* EE team's specification
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* Electrical specification
 
** 12 Volts
 
** 12 Volts
 
** must have position or speed encoders
 
** must have position or speed encoders
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**McMaster part number 98543A101
 
**McMaster part number 98543A101
  
==Prototype A Costs==
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==Prototype A==
====Unitized Costs====
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====Unitized Components====
 
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{|style="height:20px" border="1" cellpadding="5"
!width="450"|Description
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!width="50"|Quantity
 
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|-
 
|-
|12V Dribbler Motor and 14:1 Gearhead ||1||MicroMo||1628-V-0003||200.40||200.40  
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|04-01||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
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|04-02||Motor Gear||1||SDP-SI||A-1B-2MYK05030H||6.85||6.85
 
|-
 
|-
 
|-
 
|-
|Roller Gear||1||SDP-SI||A-1B-2MYK08020||9.12||9.12
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|04-03||Roller Gear||1||SDP-SI||A-1B-2MYK08020||9.12||9.12
 
|-
 
|-
 
|-
 
|-
|4mm snap-in thrust bearings||2||McMaster||7817K33||1.32||2.64  
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|04-04||4mm snap-in thrust bearings||2||McMaster||7817K33||1.32||2.64  
 
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====Shared Costs====
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====Shared Components====
 
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{|style="height:20px" border="1" cellpadding="5"
!width="450"|Description
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!width="50"|Part
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!width="50"|Quantity
 
!width="50"|Quantity
 
!width="100"|Vendor
 
!width="100"|Vendor

Revision as of 21:46, 5 December 2007

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

Robocup 2008 Mechanical

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


  • Electrical specification
    • 12 Volts
    • must have position or speed encoders
    • brushless DC

Gearing

  • Motor gear - SDP/SI A-1B-2MYK05030H
  • roller gear - SDP/SI A-1B-2MYK08020
  • 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

Dribbler bar prototype drawing

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

Unitized Components

Part Description Quantity Vendor Vendor Part Number Unit Price Total Price
04-01 12V Dribbler Motor and 14:1 Gearhead 1 MicroMo 1628-V-0003 200.40 200.40
04-02 Motor Gear 1 SDP-SI A-1B-2MYK05030H 6.85 6.85
04-03 Roller Gear 1 SDP-SI A-1B-2MYK08020 9.12 9.12
04-04 4mm snap-in thrust bearings 2 McMaster 7817K33 1.32 2.64
TOTAL UNIT COST 219.01

Shared Components

Part 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
  • nominal dribbler bar speed = 28200/5.4*1.5 = 7833 RPM. It is, of course, adjustable by software.