RC09-Omni

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As part of the RoboCup 2009 Mechanical, the Omni Wheels allow the robots to move in any direction at anytime.

2009 RoboJackets RoboCup Omni Wheel

Drawings

Materials

Assembly Structure

Parts List

Instructions

Tools needed

3 axis CNC Mill
WaterJet
Hex Keys
Press
CNC Lathe(parts are outsourced)


Parts & Components

Amounts are based on per robot. Materials are in sizes for prototyping not lowest cost per robot volume pricing if available is in parenthesis.

Stock

Plate - Wheel Plate
Vendor - McMaster-Carr
Part No. - 8885K13
Cost - $21.63
Description - Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"
Plate - Wheel Body
Vendor - McMaster-Carr
Part No. - 9246K23
Cost - $28.51
Description - Multipurpose Aluminum (Alloy 6061) 3/8" Thick, 12" X 12"
Shaft - Rollers
Vendor - McMaster-Carr
Part No. - 9063K243
Cost - $17.48
Description - Alloy 7075 Aluminum Precision Ground Rod 1/8" Diameter, 3' Length
Note: Usually ships within 2 weeks.

Fasteners

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
3/16" Dowel Pin
Vendor - MSC
Part No. - 88231758
Cost - $43.08 (per 100)
Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 3/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright
1/16" Dowel Pin
Vendor - MSC
Part No. - 88231196
Cost - $19.83 (per 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

Other

O-Ring
Vendor - McMaster-Carr
Part No. - 94115K012
Cost - $2.87 (Pks of 100)
Quantity -
Description - Neoprene O-Ring AS568A Dash Number 012

Fabrication

Omni Plates
Can be done in house on Haas for prototype.
Fleet should be water jetted.
Omni Bodies
In House on Haas VF-2
Omni Rollers
MFG.com - CNC Lathe Required

Cost Estimates

Action Log

  1. 10/19/2008 - Initial revised roller design completed.
  2. 11/02/2008 - Added new groove style for new rollers.
  3. 11/09/2008 - Refined roller design.
  4. 12/30/2008 - Resized to match internal gear dimensions.
  5. 01/13/2009 - Added fillets.
  6. 02/01/2009 - Drawing for rollers produced and ready to be posted for quote.
  7. 02/22/2009 - Design for prototype completed.
  8. 03/15/2009 - Rollers posted to mfg.com for quote.
  9. 03/17/2009 - Design revised. Internal gear added to omni body.
  10. 03/25/2009 - Supplier for rollers selected.
  11. 04/08/2009 - All 400 Rollers arrive for omni wheels.
  12. 05/05/2009 - 1/2 of rollers are assembled.
  13. 07/18/2009 - Omni bodies CAM'd.
  14. 01/26/2010 - Omni plates for prototype water jetted.
  15. 02/03/2010 - Tooling required to make omni bodies arrives.
  16. 02/13/2010 - First omni body completed. Problems encountered with automated tapping of 6-32s.
  17. 03/20/2010 - Last omni body for prototype made.
  18. 03/23/2010 - Revisions made to omni design to allow for better draining of retaining compound, symmetrical plate positioning, and new bearings.
  19. 04/03/2010 - First fleet omni body made. Process is down to 2hrs.