Difference between revisions of "RC09-DriveModule"

From RoboJackets Wiki
Jump to navigation Jump to search
(Assembly Structure)
(Fasteners)
Line 131: Line 131:
 
:Cost - $6.76 (pk 100)
 
: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)
 
:Description - Metric Flat Head Socket Cap Screw Class 10.9 Stl, M3 Size, 6mm Length, .50mm Pitch (Needs 90 deg countersink)
 +
 +
==== 1/16" Locating Pins====
 +
:Vendor - MSC Industrial Supply
 +
:Part No. - 88231196
 +
:Cost - $19.83 (pk 100)
 +
:Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 1/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright
  
 
==== 1/8" Locating Pins====
 
==== 1/8" Locating Pins====

Revision as of 20:01, 27 February 2009

As part of the RoboCup 2009 Mechanical, Drive Modules integrate the motor, gearbox and omniwheel in to one modular assembly.

2009 RoboJackets RoboCup Drive Module


Assembly Structure

Parts List

  1. Inner Drive Plate
  2. Omni Wheel
  3. Output Axel
  4. Spindle
    1. Internal Gear
    2. Bearing Plate
    3. Wheel Attachment Plate
    4. Hex Shaft

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

Internal Gear (Standard)(Supplier A)

Vendor - SDP/SI
Part No. - S1E62Z-072S110
Cost - $47.16 ($44.51)
Description - 72 DP, 110T, AGMA Q10, 303 STAINLESS STEEL INTERNAL GEAR

Internal Gear (Standard)(Supplier B)

Vendor - WM BERG
Part No. - N72S2-110
Cost - $46.25
Description - 72 DP, 110T, AGMA Q10, 303 STAINLESS STEEL INTERNAL GEAR

Internal Gear (Metric)(Supplier A)

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

Internal Gear (Metric)(Supplier B)

Vendor -
Part No. -
Cost -
Description -

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" Button Head

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 7/8" Standoffs

Vendor - Digi-Key
Part No. - 1816K-ND
Cost - $4.57 (pk 10) $42.75 (pk 100)
Description - STANDOFF HEX 6-32THR .875"L ALUM

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)

1/16" Locating Pins

Vendor - MSC Industrial Supply
Part No. - 88231196
Cost - $19.83 (pk 100)
Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 1/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright

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

Fabrication

Action Log

  1. 12/29/2008 - Internal gears selected.
  2. 12/30/2008 - Initial design of gear box completed.
  3. 01/11/2009 - Removed mass and moved to 1/8" plate for motor mounting.
  4. 01/12/2009 - Dropped 8-32 screws to 6-32, and made treading full on hex..
  5. 01/13/2009 - Confirmed that Maxon does offer custom shafts for motors and added current materials to wiki.
  6. 01/25/2009 - Preliminary encoder selected.
  7. 01/26/2009 - Initial design with a encoder completed.
  8. 02/02/2009 - Design revised. Attachment to bottom plate enhanced and encoder fully compensated for.
  9. 02/22/2009 - Design for prototype completed.