Simple Base User Guide Specifications and Instructions for assembling an AndyMark Simple Base with 8 Mecanum Wheels

Transcription

1 Simple Base User Guide Specifications and Instructions for assembling an AndyMark Simple Base with 8 Mecanum Wheels 1

2 Contents Page 1. Specifications 2 2. Bill of Material 3 3. Layout Drawing 4 4. Assembly Instructions for 8 Mecanum Wheel 5 5. Assembly Instructions for Simple Base 9 6. Encoder Assembly onto Toughbox Nano Specifications a. Size i. Length = 35.5 inches ii. Width = inches iii. Height = 8 inches b. Weight: i. 44 pounds c. Load Capacity i. 250 pounds, evenly distributed and supported near wheels d. Motors i. 2.5 CIM Motors (4), 12VDC, 337 watts power (each) e. Materials i. Aluminum side rails and gearbox housing ii. Steel gears iii. 70a durometer rubber rollers iv. Aluminum wheel side plates v. Smoked polycarbonate top sheet (0.12 inch thick) vi. Perforated PVC bottom sheet (0.12 inch thick) f. Estimated maximum speed: i. 10 feet/sec g. Estimated maximum pushing power i. 110% of weight (~50 pounds without any load) 2

3 2. Bill of Materials Item # Component Qty Part Number 1 8 Mecanum Wheel set (2 Lefts, 2 Rights) 1 am Key Huib 4 am Angle Bracket Long 4 am Cross Bar 6 am Plastic Spacer 4 am Smoked Top Sheet (polycarbonate) 1 am Perforated Bottom Sheet (PVC) 1 am CIM Motor 4 am Toughbox Nano, 500 Key Shaft Version 4 am Encoder Package 4 am /8x1/8x0.7 machine key 4 am ½ id nylon washer 8 am M5x0.8 Nylock Nut 8 am Nylock Nut 32 am x 0.75 SHCS 12 am ¼ id washer 4 am ¼-20 x 0.5 BHCS 4 am x 2.0 SHCS 16 am

4 3. Layout Drawing Not Shown 4

5 4. Assembly Instructions for 8 Mecanum Wheels Parts to make one (1) Mecanum Wheel: A: side plate (2) B: molded roller (12) with black core and two inserted bushings C: brass tube (12) D: 1.60 long aluminum spacer (6) E: #10-32 x 3.0 inch long screw (12) F: #10-32 x 2.5 inch long screw (6) (for hub mount) G: #10-32 Nylock nut (18) H: 1/4 stainless steel washer (24), 0.04 thick Tools needed: 5/32 hex head driver (or allen wrench) 3/8 wrench (or socket) Cordless drill, set on low torque setting Wheel Assembly Instructions: Step 1: Lay one side plate (A) down on the table; with inside face (inside sticker is on one side of plate). Feed screw (E) from bottom up through perimeter hole. Put washer (G) onto screw (E), over plate. Step 1 Step 2 Step 2: Insert brass tube (C) into roller (B), repeat for all rollers. 5

6 Step 3: Put roller (B) onto screw (E). Put washer (G) onto screw (E), on top of roller (B). Place the washer so that the brass tube is inside the inner hole of the washer. Step 3 Step 3 Step 4: Place second side plate (A) inside down onto wheel assembly. The inside of the plates should face each other. Step 4 Step 4 6

7 Step 5: Install nuts (F) on each of the 12 axle screws, but leave them only finger-tight. Step 6: Place the aluminum spacer (D) between the plates, aligning the spacer on one of the 6 holes closest to the center bore. Insert a screw (E) through the side plate holes and the spacer, keeping sure that the screw head is on the same side as the screw heads of the axle screws. Step 5 Steps 6 & 7 Step 7: Insert 2.5 long screws (F) into the 6 interior holes, each going through a spacer (D). Step 8: Use the 3/8 wrench and a 5/32 hex driver (or allen wrench), tighten the perimeter screws, keeping the washers fitted over the brass tubes and not sandwiched between the tube and the side plate. Don t tighten the interior screws yet. Interior screws shown in this picture are 3 long, which are longer than needed in this assembly. Step 8 Step 8 7

8 Step 9: Install the 500 Key Hub as shown in CAD pic below. The side showing is the inside of the wheel. 8

9 5. Assembly Instructions for Simple Base Step 1: Install CIM Motor to each of the Toughbox Nano gearboxes. Hardware needed for this is located in a small baggie, packaged with the Toughbox Nano. Step 2: Attach the Angle Bracket Long to the Toughbox Nano with the x 2.0 screws. This screw comes very close to the CIM Motor, so use the smaller, M5 nut for the screws next to the motor. Also, install the encoder package (see page 13 for assembly instructions). 9

10 Step 3: Attach two of the Angle Bracket Long pieces to two Toughbox Nanos. Make two sets. Step 4: Connect the two sets assembled in steps 2 and 3 by attaching Cross Bars as shown in the picture below. Use 10-32x0.75 screws. Use x 0.75 screws and Cross Bars 10

11 Step 5: Slide in the Perforated Bottom Sheet, in the gap between the Toughbox Nano and the Angle Bracket Long. Place one Spacer and two ½ id washers on each Toughbox Nano output shaft Plastic Spacer ½ plastic washer (2) Step 6: Install 1/8x1/8x0.7 machine key and slide on the 8 Mecanum Wheels (not shown). One the end of the drive shaft, put in a ¼ washer and ¼-20 x 0.5 BHCS screw. This washer and screw keep the hub/spacer/machine key assembly from sliding off. ¼ Washer ¼-20 x 0.5 BHCS 11

12 Step 7: Slide in the Smoked Polycarbonate Top Sheet 12

13 6. Install Encoder on Toughbox Nano The Encoder Package includes these parts: US Digital Encoder E4P D-D-D-B US Digital CA-MIC4-W4-NC-1 Cable Encoder Mount Pad 10-32x1/2 screws (2) Tools needed: 5/32 hex wrench, small Phillips screwdriver Step 1: Attach encoder circuit board to circular plastic mount, using small screws to thread into encoder mount pad. Step 2: Attach encoder mount pad onto Toughbox Nano with screws. Step 1 Step

14 Step 3: Slide on encoder wheel, with 250 count sticker facing the circuit board. Line up the outside face of the encoder wheel to be flush with the two tips protruding up from the circular plastic mount. Step 4: Plug in the cable and install the cap, making sure that both clips are locked in place. If you have any further questions, 14