Base Kit Chain Drivetrain Build Guide

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1 222fg Base Kit Chain Drivetrain Build Guide August 11, 2017 Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 1

2 1.1 Description This document outlines the steps required to four wheel, chain based drive train. This design should be treated a starting point and will require modification in order to address the specific needs of the robot being designed. It should be noted for best performance the center of gravity should be biased towards the Traction wheels to ensure the robot rotates about the axis at the midpoint between the Traction wheels. 1.2 Bill Of Matrials PART NUMBER DESCRIPTION QTY. REV mm REV Extrusion 6 REV mm REV Extrusion 4 REV mm Plastic Lap Corner Bracket 16 REV M3 X 16MM HEX CAP SCREWS 4 REV M3 X 8mm Hex Cap Screws 132 REV M3 Nyloc Nut 124 REV mm Plastic Inside Corner Bracket 8 REV mm Plastic Motion Bracket 4 REV mm Bearing Pillow Block 8 REV mm X 75mm Hex Shaft 4 REV Through Bore Bearing - Short 8 REV Tooth Sprocket 4 REV mm Spacer 4 REV mm Spacer 8 REV mm Traction Wheel 2 REV Shaft Collar 8 REV MM OMNI WHEEL 2 REV Tooth Sprocket 2 REV mm X 135mm Hex Shaft 2 REV Core Hex Motor 2 REV Tooth Sprocket 2 REV End Cap Bearing 2 REV mm Spacers 2 REV BATTERY HOLDER PLATE 2 REV REV ROBOTICS EXPANSION HUB 1 REV #25 Chain 10ft 1 REV #25 MASTER LINKS 1 Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 2

3 1.3 Build Instructions 2x REV x REV x REV o Pre-load with REV and REV x REV x REV Slide REV on the ends of REV such that the brackets and Extrusion are flush. Tighten nuts. Slide REV and REV on to the one of the REV assemblies. Ensure REV is to the right of REV when the brackets are pointing away from the user. Slide the REV pieces onto the REV assemblies. Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 3

4 Make the ends of REV flush with the lower REV assembly. Tighten only the bottom corners. 1x REV x REV o Pre-load with REV and REV Place REV brackets as shown. Leave screw loose. Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 4

5 Slide REV onto REV brackets. Make REV flush with the REV assembly. Measure 82.5mm from the outside edge of top REV to the vertical REV extrusion. This will center the top REV extrusion to frame. Tighten REV bracket nuts. Flip and tighten REV bracket nuts. Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 5

6 2x REV x REV o Pre-load with REV and REV Place REV brackets as shown. Leave screw loose. Slide REV onto REV brackets so that corners are flush. Tighten nuts. Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 6

7 1x REV x REV x REV x REV x REV Slide REV and REV screws onto screws inside vertical REV Place the REV and REV on as shown. Add REV nuts and tighten down then the REV hub and REV plate so they are touching the REV brackets. Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 7

8 Flip over and tighten REV brackets 2x REV x REV x REV x REV x REV x REV x REV Slide REV so that it is flush with the end of REV Add the REV gear and REV gear to the axle. Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 8

9 Add REV and tighten. Add REV traction wheel and REV end cap bearing to the end of shaft. Completing one traction wheel assembly. Repeat previous steps to make two traction wheel assemblies and then set them aside. 2x REV x REV x REV x REV x REV x REV x REV Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 9

10 Slide REV so that it is flush with the end of REV Add REV spacer and a REV gear Add REV and tighten. Add REV Omni-wheel and REV end cap bearing to the end of shaft. Completing one traction wheel assembly. Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 10

11 Repeat previous steps to make two Omni-wheel wheel assemblies and then set them aside. 2x Traction Wheel assemblies 4x REV o Pre-load with REV and REV Slide Traction Wheel assemblies with REV onto frame 2x REV x REV o Pre-load with REV and REV x REV Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 11

12 Use REV screws to mount REV to REV as shown. Slide REV brackets onto frame. 2x REV x REV o Pre-load with REV and REV x REV Slide REV on the ends of REV such that the brackets and Extrusion are flush. Tighten nuts. Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 12

13 Slide REV onto the one of the REV assemblies. Slide on REV assemblies such that front set is flush. Tighten only the front set of REV brackets. 1x REV x REV x REV Slide REV screws onto frame. Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 13

14 Add REV Finger tighten REV nuts. 2x Omni-Wheel assemblies 4x REV o Pre-load with REV and REV Slide Omni-Wheel assemblies with REV onto frame. Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 14

15 1x REV x REV o Pre-load with REV and REV Place REV brackets as shown. Leave screw loose. Slide REV onto REV brackets. Make REV flush with the REV assembly. Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 15

16 Tighten REV bracket nuts. From the outside inwards. Be sure to keep the frame square while tightening nuts. Flip and Tighten. 2x REV x REV x REV x REV x REV x REV x REV (not pictured) Slide on a REV shaft collar and tighten it so that it is about 65mm (about 2.5inches) from the end of the REV shaft. Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 16

17 Add a REV sprocket, a REV bearing and a REV mm spacer onto the right side, the side the 65mm was measured from. Compress and REV bearing and a REV mm spacer add REV shaft collar and add REV end cap bearing. Leave the REV shaft collar loose. Repeat previous steps to make two motor shaft assemblies and then set them aside. 2x Motor shaft assemblies Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 17

18 Slide the motor shaft assemblies into the REV motor so that the bushing fits in the REV motion bracket. Tighten down the REV motion bracket Slide the outside REV motion bracket into place. Ensure the shaft is square to REV motor and tighten down REV Flip over and adjust wheels to where you want them leaving about a quarter of an inch to allow for chain tensioning. Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 18

19 Measure and break REV chain. For all sections. Use REV master link to join REV chain. If your wheels do not rotate freely, loosen the two lap brackets on the corners and adjust them outwards just a bit until they rotate freely. Modify the drive train as needed. Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 19

20 Chain Drivetrain Build Guide Copyright 2017 REV Robotics, LLC 20

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