Difference between revisions of "RC08-Dribbler"
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[[RobocupMechanical|Robocup 2008 Mechanical]] | [[RobocupMechanical|Robocup 2008 Mechanical]] | ||
| − | ==Motor== | + | ==Assembly Structure== |
| + | |||
| + | |||
| + | ==Parts & Components== | ||
| + | ===Motor=== | ||
* Vendor: MicroMo | * Vendor: MicroMo | ||
* Motor: 12V DC brushless servo motor #E-1628B | * Motor: 12V DC brushless servo motor #E-1628B | ||
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** brushless DC | ** brushless DC | ||
| − | == | + | ===Gears=== |
*Motor gear - SDP/SI A 1B 2MYK05030H | *Motor gear - SDP/SI A 1B 2MYK05030H | ||
**$6.85 each, 3mm bore, 30 teeth, 15mm pitch diameter, brass gear with set screw | **$6.85 each, 3mm bore, 30 teeth, 15mm pitch diameter, brass gear with set screw | ||
| Line 32: | Line 36: | ||
*Example geared down dribbler bar speed used in CMU robots ~7800 RPM | *Example geared down dribbler bar speed used in CMU robots ~7800 RPM | ||
| + | |||
| + | ===Swing=== | ||
| + | |||
| + | |||
| + | |||
| + | ===Fasteners=== | ||
| + | =====M | ||
| + | |||
| + | ===Shaft=== | ||
| + | =====Hinge shaft===== | ||
| + | =====Dribbler shaft===== | ||
| + | |||
| + | ===Spring=== | ||
| + | =====Torsion spring===== | ||
| + | |||
| + | |||
| + | |||
| + | ===Other=== | ||
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[[image:dribblerprototype.png|500 px|Dribbler bar prototype drawing]] | [[image:dribblerprototype.png|500 px|Dribbler bar prototype drawing]] | ||
| − | |||
===dribbler bar prototypes=== | ===dribbler bar prototypes=== | ||
*3/4" diameter aluminum bar stock | *3/4" diameter aluminum bar stock | ||
Revision as of 00:24, 19 December 2007
This page contains the information and documentation of the 2008 dribbler system
Contents
Assembly Structure
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
- $200.40 each
- Electrical specification
- 12 Volts
- must have position or speed encoders
- brushless DC
Gears
- 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
- roller gear WILL be turned down from 7mm face to 2mm face width
- $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
Swing
Fasteners
=====M
Shaft
Hinge shaft
Dribbler shaft
Spring
Torsion spring
Other
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.
