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1640 Pivot Drive

1640 Pivot Drive. Value Engineering 22 November, 2010. 1640 Pivot Drive – 2010 version. Our first year with Pivot Drive Combines agility with force Provides competitive advantage Enables game-specific drive modes Comes at a price: Mass (40 lb) 8 Motors & motor controllers

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1640 Pivot Drive

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  1. 1640 Pivot Drive Value Engineering 22 November, 2010

  2. 1640 Pivot Drive – 2010 version • Our first year with Pivot Drive • Combines agility with force • Provides competitive advantage • Enables game-specific drive modes • Comes at a price: • Mass (40 lb) • 8 Motors & motor controllers • $s for materials • Requires highly-skilled drivers • Programming is formidable • High-level machining & assembly capabilities

  3. Value Engineering • Value Engineering seeks to widen the gap between a device’s value (to the user/customer) and its cost by: • Increasing the value (performance); • Reducing the cost (traditionally $s, but mass, motors, driver skill,… apply as well); or • both

  4. Observed Performance Deficiencies • Pivot tube / Pivot top joint failed on two occasions – unrepairable • Set screws unreliable • Transfer axle drift • Wheel drift • Pivot repairs (x-wheel tread changes) take too much time • Side plate bolts loosened in use • Pivot Angle not very accurate

  5. Cost • Mass - 2010 Pivot mass 40 lb • $s – 2010 Pivot materials cost $1,250 • Machining – get best value for machine time • Programming – 2nd run should be easier • Driver Skills – we need 2 new drivers trained (May)

  6. Pivot 7e • Pivot tube / Pivot top joint strengthened • Transfer axle redesigned to eliminate need for set-screws • PVC spacer replaces Collar on sprocket side of wheel • Clamp collar replaces simple set-screw collar non-sprocket side • Sealed 1” Ball Bearing Races • Replace button heads with flat heads • Pivot side tabs allow #10 screws on brace • Pins for side & brace alignment • More relief for mass reduction • Timing belt replacing steering chain

  7. Straw man – Modular Pivot • Target – Replace a Pivot in 5 minutes • Modular unit includes Pivot, Motors, Encoder(s), chains, belts,… • Unit inserts into bottom of chassis • (7) ¼”-20 bolts + electrical connections • L & R spares will be needed • (2) mounting orientations possible

  8. Straw man – Modular Pivot

  9. Straw man – Modular Pivot

  10. Straw man – Modular Pivot

  11. Straw man – Modular Pivot

  12. Straw man – Modular Pivot

  13. Straw man – Mounting Options

  14. Actions – Pivot 7e • Use 1” OD x ¼” wall 6061 tube for Pivot tube. Eliminate bottom lip & inset. Eliminate alignment hole. Rely on tight (thermal) fit. • Drill (6) weight reduction holes in the 22T sprocket

  15. Actions – Straw man Module • Replace 2” x 1” U-channel spacers with 2” standoffs • Stick with (5) bottom plate bolts – eliminate side wall fasteners to chassis frame • Add stiffening rib to top plate along Pivot – CIM axis • Top of stiffening rib to double as encoder mount base • Use timing belt for CIM-Pivot drive (in lieu of chain) • Set CIM in a pivoting mount to allow belt tensioning • Use ball bearing race for top of BaneBots P60 shaft • Tie top plate to top frame? • Steering belt needs a tensioning means

  16. Actions - Organization • We need the mill moved and set-up • Will we have a CNC lathe? If so, need this set up too • Need tools. Ben Kellom to develop list • We will need to design and build jigs for fabbing these parts, aide accurate assembly, welding the chassis and the drilling bolt holes in the chassis

  17. Notes (captured thoughts) • The Pivot Module is amenable to inclusion of shock-absorbing mounts between the module & chassis frame • 7075 Al should be considered for specific high-stress, non-welded parts • Consider thermal fit for miter gears & 9T sprocket on transfer shaft

  18. Douglas Molly Shasha Andrew Ben Kellom Gary Deaver David Moyer Siri Maley Clem McKown Participants • Faith McKown • Rita Wall • John Weissman

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