E BOT Workshop #1
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EBOT Workshop #1 Zan Hecht October 14 th , 2004 Basic Mechanical Design
description
E BOT Workshop #1. Basic Mechanical Design. Zan Hecht October 14 th , 2004. What’s in the Kit?. What’s in the Kit?. Bars and Plates. What’s in the Kit?. Angle. What’s in the Kit?. Nuts and Bolts. What’s in the Kit?. Standoff. What’s in the Kit?. Standoff. What’s in the Kit?. - PowerPoint PPT Presentation
Transcript of E BOT Workshop #1
EBOT Workshop #1
Zan HechtOctober 14th, 2004
Basic Mechanical Design
What’s in the Kit?
What’s in the Kit?
Bars and Plates
What’s in the Kit?
Angle
What’s in the Kit?
Nuts and Bolts
What’s in the Kit?
Standoff
What’s in the Kit?
Standoff
What’s in the Kit?
Shafts and Shaft Collars
What’s in the Kit?
Locking Bars
What’s in the Kit?
Locking Bars
What’s in the Kit?
Locking Bars
What’s in the Kit?
Locking Bars
What’s in the Kit?
Gussets
Plus Gusset Angle Gusset Pivot Gusset
What’s in the Kit?
Motors
What’s in the Kit?
Motors
• Motors are fragile• Do not back-drive• Do not side load• Be careful when
mounting
What’s in the Kit?Delrin Bearings
Use with motors or rapid movement
What’s in the Kit?Delrin Bearings
What’s in the Kit?Bearing Bars
Use with slow movement (such a pivot)
What’s in the Kit?
Bearing Bars
What’s in the Kit?
Bearing Bars
What’s in the Kit?
Sprockets
What’s in the Kit?
Chain
What’s in the Kit?
Chain
What’s in the Kit?
Wheels
What’s in the Kit?
Wiring the Robot Controller
Building a Robot
Building a Robot
Skid (Tank) Steering
ROBOT
A B
Building a Robot
Skid (Tank) Steering
ROBOT
A B
Building a Robot
Skid (Tank) Steering
ROBOT
A B
Building a Robot
Skid (Tank) Steering
ROBOT
A B
Building a Robot
Skid (Tank) Steering
ROBOT
A B
Building a Robot
Skid (Tank) Steering
ROBOT
A B
Building a Robot
4 Wheels vs. 2 Wheels
ROBOT
Building a Robot
4 Wheels vs. 2 Wheels
ROBOT
RO
BO
T
Building a Robot
4 Wheels vs. 2 Wheels
ROBOT
RO
BO
T
Building a Robot
Center of Gravity
Building a Robot
Center of Gravity
Building a Robot
Center of Gravity
Building a Robot
Center of Gravity
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
Chain Theory
16 32
Building a Robot
?*
?*
inputoutput
inputoutput
torquetorque
rpmrpm
Chain Theory
Building a Robot
?*
*
inputoutput
output
inputinputoutput
torquetorque
teethteeth
rpmrpm
Chain Theory
Building a Robot
input
outputinputoutput
output
inputinputoutput
teethteeth
torquetorque
teethteeth
rpmrpm
*
*
Chain Theory
Building a Robot
?robotspeed
Robot Speed
Building a Robot
**60 wheelwheel
robot Diameterrpmspeed
Robot Speed
Building a RobotMotor Performance Data
Speed (RPMs) Torque (oz. in.)
Current (Amps)
Power Out (Watts) Efficiency Heat (Watts)
170 0.00 0.1 0.0 0% 1
159 4.68 0.3 0.5 26% 2
147 9.35 0.4 1.0 34% 2
136 14.03 0.5 1.4 36% 2
125 18.71 0.6 1.7 36% 3
113 23.38 0.7 2.0 34% 4
102 28.06 0.8 2.1 32% 4
91 32.73 0.9 2.2 29% 5
79 37.41 1.0 2.2 26% 6
68 42.09 1.1 2.1 23% 7
57 46.76 1.2 2.0 19% 8
Building a Robot
Robot Speed
What size wheel should I use if I want my robot’s maximum speed to be 3 feet per second?
Building a Robot
Robot Speed
What size wheel should I use if I want my robot’s maximum speed to be 3 feet per second?
3~**60120~3 wheelDiameter
Building a Robot
Robot Speed
What size wheel should I use if I want my robot’s maximum speed to be 3 feet per second?
5.wheelDiameter (6 inches)
Building a Robot
Robot Speed
If the 6” wheels are the largest in the kit, how would I make my robot’s maximum speed 1.5 feet per second (without damaging the motor
or making custom wheels)?
Building a Robot
Robot Speed
If the 6” wheels are the largest in the kit, how would I make my robot’s maximum speed 1.5 feet per second (without damaging the motor
or making custom wheels)?
**60 wheelwheel
robot Diameterrpmspeed
Building a Robot
Robot Speed
If the 6” wheels are the largest in the kit, how would I make my robot’s maximum speed 1.5 feet per second (without damaging the motor
or making custom wheels)?
output
inputinputoutput teeth
teethrpmrpm *
Building a RobotRobot Speed
If the 6” wheels are the largest in the kit, how would I make my robot’s maximum speed 1.5 feet per second (without damaging the motor
or making custom wheels)?
Put a sprocket on the motor that is half the size of the sprocket on the wheel.
Building a Robot
Chain Wrap
Motor
WheelWheel
Building a Robot
Chain Wrap
Motor
WheelWheel
Building a Robot
Chain Wrap
Motor
WheelWheel
Building a Robot
Chain Tension
Building a Robot
Wheelbase
Building a Robot
Wheelbase
Building a Robot
Wheelbase
Building a Robot
Wheelbase
Building a Robot
Chain Alignment
motor
Building a Robot
Supporting Shafts
motor
Building a Robot
Supporting Shafts
motor
Building a Robot
Supporting Shafts
motor
Building a Robot
Supporting Shafts
motor
Building a Robot
Supporting Shafts
motor
Building a Robot
Supporting Shafts
motor
Building a Robot
Supporting Shafts
motor
Building a Robot
Supporting Shafts
motor
Building a Robot
Pivots
Nylock
Steel Washer
Nylock
Teflon Washer
Building a Robot
Building a Robot
