REV FIRST Global Building Manual
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REV FIRST Global Building Manual

REV FIRST Global Building Manual

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FIRST Global Building Guide
FIRST Global Building Guide
Created by REV Robotics 2019, Licensed Under CC BY-SA

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Summary of Contents for REV FIRST Global

  • Page 1 FIRST Global Building Guide FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...

  • Page 2: Table Of Contents

    PULLEYS AND ROUND BELT ............................37 BASIC BUILDING GUIDE ............................... 38 DRIVE TRAIN GUIDE ..............................38 ARM GUIDE .................................. 41 MINI ROBOT EXAMPLE ............................... 41 ALL COMPONENTS (1:1 Scale) ..............................42 FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...

  • Page 3: Introduction

    1.1 HOW TO USE THIS GUIDE This guide is intended to be an introduction to the REV Robotics Building System that is being used in FIRST Global. The goal of this document is to give an overview of the parts included in the system and some example building techniques which will make building your robot easier.

  • Page 4: Electrical Components

    Robots are made up of mechanical structures and the electrical components that move and control them. Electronics is a broad category which includes motors, sensors, and programmable controllers or hubs. The REV Robotics Building System has two kinds of Hubs: Control Hub and the Expansion Hub (Figure 1). The Control Hub has an integrated computer module running Android and is where the robot code runs, while the Expansion Hub only provides a break out of additional ports.
  • Page 5 The battery connectors are a pair of male and female XT30 Connectors. Connect the REV Robotics 12V Slim Battery ( ) to either connector. If your robot has both a REV-31-1302 Battery Control Hub and an Expansion Hub you can use a battery extension cable to connect power between the two.

  • Page 6: System Wiring Diagram

    The Servo Motor ports and the 5V Power ports are not keyed and the pin out is shown in Figure 3Figure 3 Figure 3: Servo and 5V Power Port Pinouts 2.2 SYSTEM WIRING DIAGRAM Figure 4: System Wiring Diagram FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...

  • Page 7: Dc Motors

    DC motors are used to power wheels and control moving robot parts, like arms. The Core Hex DC Motor (Figure 5) included in the FIRST Global Kit has a 5mm hex socket drive shaft surrounded by six m3 mounting holes on both sides called the Motion Interface Pattern.

  • Page 8: Servo Motors

    Aluminum Servo Horn or Servo Adapter (see Table 6). Splines are like keys, so only matched types will fit together. The REV Robotics Servos all use a 25T spline pattern. If the gears or spline of the REV Robotics Smart Robot Servo become damaged, they are replaceable using a Replacement Gear Set.

  • Page 9: Sensors

    The REV Robotics Smart Robot Servo is a programmable servo that can switch between standard servo mode, continuous rotation, and custom angular modes. To unlock these modes, use the SRS Programmer to configure and test the Smart Robot Servo. See the SRS Programmer User’s Manual for specific information on how to configure the Smart Robot Servo.

  • Page 10: Battery

    2.6 BATTERY The Slim Robot Battery for FIRST Global is a 12V 3000mAh NimH battery with inline 20A mini ATX fuse for protection (Figure 12). The battery has a female XT30 Connector. This connector is polarized so that the battery cannot be plugged in incorrectly.

  • Page 11: Mechanical Components

    3.1 EXTRUSION REV Rail Extrusion is 15mm x 15mm square profile clear anodized Aluminum. Slots accept standard M3 hex-head bolts or nuts, rather than expensive t-nuts. The five-hole pattern on the end of the extrusion can be M3 tapped (Figure 13). The slots in the extrusion allow attached brackets to be slid and retightened to an infinite number of locations.
  • Page 12 3.2.2 All Bracket Types Table 2 and Table 3 show all of the motion and construction brackets in the REV Robotics 15mm Plastic Building System. Table 2: Motion Brackets Motion Bracket Rod End Motion Bracket Gearbox Motion Bracket REV-41-1303 REV-41-1304...
  • Page 13 3.2.3 Pillow Blocks The REV Robotics building system uses plastic nylon (PA66) molded pillow blocks (Figure 15). The bearing pillow block can be used with the long through-bore or end cap bearings to provide a low friction shaft support. The hex pillow block directly interfaces with a 5mm shaft which can be used to drive a light duty arm or as a dead (non-spinning) axle support.

  • Page 14: Joints

    When using brackets to connect extrusion, the joint will be much stronger if the end of the extrusion is beveled (cut at an angle) so that the end will sit flush with the face of the adjoining extrusion (Figure 20). Figure 20: Extrusion with Beveled Joint FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 15 Mounting a corner cube to 15mm Extrusion requires the ends of the extrusion to be tapped, see 3.4.5 End-Tapped Extrusion Method for details. Compact 90 Degree Three-Way Joint Figure 23: Corner Cube Examples FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...

  • Page 16: Bracket Assembly Techniques

    3. Place the bracket on the the protruding bolts. 4. Add nuts to the exposed bolts, slide the bracket into position and tighten. Figure 25: Bolt-first Assembly Method FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 17 4. Start the nuts on all of the protruding bolts. Slide the bracket to the desired final location and tighten the nuts. Figure 27: Drop-in Bolt Assembly Method FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...

  • Page 18: Bearings

    3.5.1 Molded Plastic Beari ngs The REV Robotics Building System uses plastic acetal (Delrin/POM) molded bearings. These bearings have a maximum 9mm outer diameter (OD) which fit inside the 9mm inner diameter (ID) hole in the all the motion brackets (Figure 29).
  • Page 19 These Delrin bearings provide stable, low friction axle support in our nylon brackets. The two materials were carefully chosen because they have a very low coefficient of friction and are also incompatible materials, meaning that they will not stick together under extreme heat. REV Robotics Plastic Bearings come in three varieties (Table 4). Table 4: Bearings...
  • Page 20 3.5.2 Ball Bearings The REV Robotics Building System also uses a metal ball bearing. This bearing has a 12mm outer diameter (OD) which fit inside the 12mm inner diameter (ID) hole of the metal ball bearing mount (REV-41-1452). For use with the 5mm Hex Shaft place a 5mm Hex to 8mm Bearing Insert (REV-41-1528) into the ball bearing.

  • Page 21: Linear Motion V2

    3.6.1 Kit Component s The REV Robotics Linear Motion kit is intended to be used with the REV 15mm extrusion to help make creating linear motion on your robot easy. The Linear Motion kit contains all the necessary hardware (Figure 36) to build a 2-stage lift. A 5.5mm Nut driver and 2mm Allen key are needed for assembly.
  • Page 22 3.6.2 Assembly Inst ructions These instructions explain how to build one half of a single stage lift. Each REV Robotics 15mm Linear Motion Kit contains enough hardware to create a 2-stage lift. Step 1 Required Components: Slider Plate – x1 M3 x 8mm Hex Cap Bolts –...
  • Page 23 SLIDER DEFORMATION AND BINDING. The above steps 1-5 will result in the basic building assembly for a linear motion elevator using the REV Robotics 15mm Linear Motion Kit V2 and Extrusion (Figure 37). Repeat the steps 1-8 above for as many stages as needed, a minimum of two assemblies are needed.
  • Page 24 M3 x 16mm bolt and M3 locknut. Past this assembly point, the stringing and powering of the REV 15mm Linear Motion Kit V2 follows the same instruction as depicted in the 15mm linear motion guide on our website.

  • Page 25: Hinges

    3.7.1 Kit Component s The REV Robotics Hinge kit is intended to be used with the REV 15mm extrusion to create compact, simple hinges. The hinges come in left, right, and center pieces and are attached using standard M3 Hardware that is provided in the kit.
  • Page 26 Figure 40: M3 Drop-in Bolt FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 27 Figure 43: Shaft Collar Tightened on a Hex Shaft The REV Robotics shaft collar has a 6mm inside diameter and is customized with a M3 thread so a standard hex cap bolt can be used instead of the supplied set screw (Figure 44).
  • Page 28 For shorter shaft lengths, spacers are generally more efficient (Figure 45). Figure 45: Shaft Collar and Spacer Side by Side FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...

  • Page 29: Adapters

    Servo Shaft Adaptors convert a 25T spline servo output shaft into a female 5mm hex socket. This adapter can be used to use a servo to drive a 5mm hex shaft directly. Aluminum Servo Horns have a tapped hole pattern that can be directly mounted to any of the REV Robotics gears, wheels, or sprockets with a 6-hole pattern.

  • Page 30: Motion Components

    3.10 MOTION COMPONENTS All REV Robotics Motion Components, including wheels, sprockets, gears, and pulleys, all have a uniform thickness of 15mm (Figure 47). The purpose of this is to improve the iterative design experience. Changing from gears to a solution with chain and sprocket, or switching to directly driving a wheel, will not require any frame or spacer changes.

  • Page 31: Wheels

    Figure 50: Shaft Alignment Example 3.11 WHEELS The REV Robotics Building System has three different traction wheel sizes (Table 7) and two different Omni Wheel sizes (Table 8). Traction wheels and GRIP wheels are co-molded with a polyurethane tread for increased traction.
  • Page 32 Table 7: Traction Wheels 30mm Traction Wheel 60mm Traction Wheel 90mm Traction Wheel REV-41-1353 REV-41-1350 REV-41-1354 Table 8: Omni Wheels 60mm Omni Wheel 90mm Omni Wheel REV-41-1353 REV-41-1354 FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...

  • Page 33: Sprockets And Chain

    3.12 SPROCKETS AND CHAIN REV Robotics sprockets are a #25 pitch and are made from molded acetal (Delrin/POM). Sprockets are designed to fit a 5mm hex shaft, which eliminates the need for special hubs and setscrews. The REV Robotics building system is designed around slotted extrusion which allows components attached to the extrusion to slide to any desired location for tension adjustment.
  • Page 34 Figure 55: Correctly Spaced Sprockets (Chain Correctly Tensioned) To correctly space REV Robotics sprockets, use the following procedure: 1. Securely fix the axle of either the input or output sprocket. In the case of a gear train with multiple idlers or a compound reduction, consider which axle makes the most sense to fix such as the very first input gear or the very last gear.
  • Page 35 Pitch is the distance between the centers of two adjacent pins. The REV Robotics building system uses #25 chain. 3.12. 3 Custom Length Chai n In almost all applications, chain links are connected to form a loop. While chain can sometimes be purchased in specific length loops, it is more common to receive chain in bulk lengths and make custom loop lengths to fit the application.

  • Page 36: Gears

    Table 9: #25 Sprockets 10 Tooth Sprocket 15 Tooth Sprocket 20 Tooth Sprocket REV-41-1338 REV-41-1339 REV-41-1340 26 Tooth Sprocket 40 Tooth Sprocket 54 Tooth Sprocket REV-41-1342 REV-41-1343 REV-41-1341 3.13 GEARS FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 37 REV Robotics Gears are designed to fit a 5mm hex shaft which eliminates the need for special hubs and setscrews. This system has seven different gear sizes with a maximum reduction of 8.3 (Table 10).
  • Page 38 To correctly space REV Robotics Gears, use the following procedure: 1. Securely fix the axle of either the input or output gear. In the case of a gear train with multiple idlers or a compound reduction, consider which axle makes the most sense to fix, such as the very first input gear or the very last gear.

  • Page 39: Pulleys And Round Belt

    3.14. 1 All Pulleys and Pulley Parts Table 11: Pulley Components 30mm Pulley 60mm Pulley 99mm Pulley REV-41-1344 REV-41-1345 REV-41-1346 Pulley Belt Barb Round Pulley Cord REV-41-1165 REV-41-1164 FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...

  • Page 40: Basic Building Guide

    When designing a 6-wheel drive robot, it is typically desirable to drop the center wheel by a small amount in order to improve the turning ability of the robot. There are two straight forward ways to do this using the REV Building System.
  • Page 41 All sprockets on the same side of a chain have the same rotation. In Figure 69, the driving and driven sprocket are inside the chain and are rotating counter clockwise while the idler sprocket is outside of the chain loop and is rotating clockwise. FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 42 Figure 70: Chain Wrap Illustration FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...

  • Page 43: Arm Guide

    A Complete getting started instructions for the Minibot are available separately. Figure 73: Mini Robot FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...

  • Page 44: All Components (1:1 Scale)

    ALL COMPONENTS (1:1 Scale) This section has 1:1 scale drawings for the REV Robotics 15mm Extrusion Building system components. Use this list as a reference for part numbers, or print the pages out at full scale and use them to help identify unknown parts.
  • Page 45 GEARS (1:1 Scale) FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 46 SPROCKETS (1:1 Scale) FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 47 WHEELS (1:1 Scale) FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 48 REV-41-1267 90mm Grip Wheel REV-41-1160 REV-41-1190 60mm Omni Wheel 90mm Omni Wheel FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 49 BRACKETS (1:1 Scale) FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 50 FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 51 PILLOW BLOCKS (1:1 Scale) BEARINGS (1:1 Scale) METAL BALL BEARING (1:1 Scale) REV-49-1559 REV-41-1528 REV-41-1452 Metal Flanged Bearing Round Bearing Insert Metal Ball Bearing Mount SPACERS (1:1 Scale) FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 52 ADAPTERS AND COLLARS (1:1 Scale) REV-41-1147 High Strength Hex Hub FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 53 PULLEYS (1:1 Scale) REV-41-1346 REV-41-1345 60mm Pulley 90mm Pulley REV-41-1344 30mm Pulley FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 54 Metal Bent HD Hex Motor Bracket Motor Bracket Motor Bracket SERVO BRACKETS (1:1 Scale) REV-41-1485 REV-41-1475 Metal Offset Servo Bracket Metal Bent Servo Bracket REV-41-1484 Metal Flat Servo Bracket FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 55 Variable Angle Bracket REV-41-1478 REV-41-1477 REV-41-1476 60 Degree Bracket 45 Degree Bracket 30 Degree Bracket REV-41-1480 REV-41-1476 REV-41-1476 90 Degree Bracket 30 Degree Bracket 30 Degree Bracket FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...
  • Page 56 LINEAR MOTION KIT CONTENTS (1:1 Scale) Endcap Double Sided Slider Bearing Cover Slider Plate Pulley Bearing HINGE KIT CONTENTS (1:1 Scale) Center Hinge Right Hinge Left Hinge FIRST Global Building Guide Created by REV Robotics 2019, Licensed Under CC BY-SA...

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