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PART NUMBER
DESCRIPTION
QTY.
5MM X 90MM HEX SHAFT
2
THROUGH BORE BEARING - LONG
2
SHAFT COLLAR
6
15MM SPACER
1
CORE HEX MOTOR
1
45 TOOTH PLASTIC GEAR
1
125 TOOTH PLASTIC GEAR
1
M3 X 8MM HEX CAP SCREWS
4
M3 NYLOC NUTS
2
M3 X 16MM HEX CAP SCREWS
2
ASSEMBLIES
PRE-LOADED BEARING PILLOW BLOCK
2
PRE-LOADED BENT CORE HEX MOTOR BRACKET V2
1
Add a Shaft Collar flush to the end of the 5mm x 90mm Hex Shaft. Tighten the Shaft Collar.
Slide a Core Hex Motor onto the shaft.
Attach the Pre-Loaded Bent Core Hex Motor Bracket to the Core Hex Motor using four M3 x 8mm Screws.
Slide one 15mm Spacer, two Shaft Collars, and a 45 Tooth Plastic Gear onto the shaft in the order shown.
Adjust the Shaft Collars and Gear on the shaft so that the outer most Shaft Collar is flush with the end of the shaft.
Slide the Core Hex Motor Assembly down the Upright Extrusion as shown. The Bent Core Hex Motor Bracket will be on the same side of the Upright as the Battery Holder plate.
Note: The position of the bracket for now doesn't matter. Adjustments will be made in a later step to mesh the gears.
Attach to M3 x 16mm Screws to the 125 Tooth Plastic gear as shown in the image above.
Note: The screw placement in the image is a suggestion. Adjustment to the placement of the screws on the gear can be made at your discretion.
Slide the 125 Tooth Gear Assembly from step 1 onto a 5mm x 90mm Hex Shaft.
Note: The gear should sit close to the center of the shaft. Adjustments will be made in a later step.
Add three Shaft Collars onto the shaft as shown. Leave the shaft collars loose for now so adjustments can be made later.
Add two Through Bore Bearing - Long to the shaft as shown
Sit two Bearing Pillow Blocks onto the Through Bore Bearings as shown.
Slide the Bearing Pillow Blocks onto the Uprights. The upper edge of the Pillow Blocks should be flush with the top of the Extrusions. Tighten the Nylock Nuts on the Bearing Pillow Blocks.
Once the Bearing Pillow Blocks are secure adjust and tighten the Shaft Collars as shown.
Note: The two outermost Shaft Collars should be flush against the bearings, securing them to the Pillow Blocks. The innermost Shaft Collar should be supporting the gear.
Adjust the Core Hex Motor Assembly so that the 45 Tooth Gear is meshed with the 125 Tooth Gear as shown.
Once the Gears are meshed the Arm Gear Assembly is complete.
Only two of the four 45 Degree Brackets in the build will be pre-loaded.
The side of the bracket with “” must have the Hex Cap Screw head.
This version of the Class Bot is compatible with the .
Please be sure to check the to see the complete list of necessary parts.
This section outlines the steps required to build the REV Class Bot V2. This design is a good starting point for robot design using the REV 15mm Build System. However, modification may be required to address the specific needs of the challenge being met.
The assembly of this robot is broken into a few sections. This allows for a team of people to work on different tasks to complete the build quicker. Each section begins with what parts and the quantity of parts needed to complete the steps in that section. A list of required materials for all sections is listed below.
The Class Bot V2 can be built out of the following kits:
The quantity of tools needed is dependent on the use case.
The side of the bracket with “” must have the Hex Cap Screw head.
The side of the bracket with “” must have the Hex Cap Screw head.
Part Number
Description
QTY.
EDU Kit V2
1
Part Number
Description
QTY.
FTC Starter Kit V3.1
1
DUO Control Bundle
1
15mm Extrusion - 150mm - 45° Ends
1
UltraPlanetary Flat Mounting Bracket
1
Touch Sensor
1
Part Number
Description
QTY.
FTC Starter Kit V3
1
Control & Power Bundle
1
Hook and Loop Fastener
1
Part Number
Description
QTY.
15mm Extrusion- 225mm
8
15mm Extrusion - 420mm
1
15mm Extrusion - 150mm - 45° Ends
2
5mm X 90mm Hex Shaft
2
5mm X 135mm Hex Shaft
4
3mm Spacer
2
15mm Spacer
1
Through Bore Bearing - Long
10
Shaft Collar
20
90mm Omni Wheel
2
90mm Traction Wheel
2
15mm Bearing Pillow Block
12
15mm Plastic Inside Corner Bracket
15
15mm Plastic 45 Degree Bracket
4
15mm Plastic 120 Degree Bracket
3
Battery Holder Plate
2
15mm Metal Bent Core Hex Motor Bracket V2
1
Core Hex Motor
1
UltraPlanetary Flat Mounting Bracket
2
UltraPlanetary Gearbox Kit & HD Hex Motor
2
15mm Metal Bent Servo Bracket V2
1
Smart Robot Servo
1
Aluminum Servo Horn
1
45 Tooth Plastic Gear
3
72 Tooth Plastic Gear
2
125 Tooth Plastic Gear
1
M3 X 8mm Hex Cap Screws
150
M3 Nyloc Nuts
150
M3 X 16mm Hex Cap Screws
15
Switch Cable And Bracket
1
12V Slim Battery
1
Control Hub
1
Touch Sensor
1
JST-PH 4-Pin Sensor Cable
3
JST-VH 2-Pin Motor Cable
3
36" PWM Cable
1
Hook And Loop Fastener
1
Part Number
Description
5.5mm Nut Driver
5.5mm Combination Wrench
1.5mm Allen Wrench
2mm Allen Wrench
PART NUMBER
DESCRIPTION
QTY.
15MM BEARING PILLOW BLOCK
8
15MM PLASTIC INSIDE CORNER BRACKET
10
15MM PLASTIC 45 DEGREE BRACKET
2
ULTRAPLANETARY FLAT MOUNTING BRACKET
2
15MM METAL BENT CORE HEX MOTOR BRACKET V2
1
15MM METAL BENT SERVO BRACKET V2
1
M3 X 8MM HEX CAP SCREWS
104
M3 NYLOC NUTS
104
Take a bracket and finger start one Hex Cap Screw and Nyloc Nut per hole.
PRE-LOADED BRACKET COMPELTE
Repeat this step until you have two Pre-Loaded Brackets.
Take a bracket and finger start one Hex Cap Screw and Nyloc Nut per hole.
PRE-LOADED BRACKET COMPELTE
Repeat this step until you have ten Pre-Loaded Brackets.
Take a bracket and finger start one Hex Cap Screw and Nyloc Nut per hole.
PRE-LOADED BRACKET COMPELTE
Repeat this step until you have eight Pre-Loaded Brackets.
Take a bracket and finger start one Hex Cap Screw and Nyloc Nut per hole.
PRE-LOADED BRACKET COMPELTE
Repeat this step until you have two Pre-Loaded Brackets.
Take a bracket and finger start one Hex Cap Screw and Nyloc Nut per hole.
PRE-LOADED BRACKET COMPELTE
Take a bracket and finger start one Hex Cap Screw and Nyloc Nut per hole.
PRE-LOADED BRACKET COMPELTE
PART NUMBER
DESCRIPTION
QTY.
15MM EXTRUSION - 225MM
6
15MM EXTRUSION - 150MM - 45° ENDS
2
15MM PLASTIC 45 DEGREE BRACKET
2
BATTERY HOLDER PLATE
2
M3 X 8MM HEX CAP SCREWS
16
M3 NYLOC NUTS
16
ASSEMBLIES
PRE-LOADED 45 DEGREE BRACKET
2
PRE-LOADED INSIDE CORNER BRACKET
6
PRE-LOADED BEARING PILLOW BLOCK
4
Slide a Pre-Loaded Inside Corner Bracket into the slot of a 15mm Extrusion - 225mm. Align the outer corner of the bracket with the end of the Extrusion. Tighten the Nylock Nuts until snug.
Add three M3 x 8mm Screws to the slot of the 15mm Extrusion - 225m.
Slide a second Pre-Loaded Inside Corner Bracket into the 15mm Extrusion - 225mm. Align the outer corner of the bracket with the end of the Extrusion. Tighten the Nylock Nuts until snug.
Add two Pre-Loaded Bearing Pillow Blocks to the 15mm Extrusion, as shown. The edge of the Pillow Blocks should line up with the end of the Extrusion. Tighten the Nylock Nuts until snug.
Internal Cross Member Assembly Complete.
Repeat steps above until you have two Internal Cross Member Assemblies. Set aside for later.
Pre-load four Hex Cap Screws and Nyloc Nuts per onto the Holder plate Battery Plate, as shown.
Once the screws have been pre-loaded onto the Battery Holder Plate, set the Battery Holder Plate aside.
Add a Pre-Loaded 45 Degree Bracket to a 15mm Extrusion - 150mm- 45° Ends. The bracket should be set so that the vertex holes/screws are left exposed. Only 2 of the screws will be embedded into the Extrusion. Once placed tighten the Nylon Nuts on the bracket until snug.
Repeat this process to get a second, mirrored Pre-Loaded 45 Degree Bracket and 15mm Extrusion - 150mm- 45° Ends assembly.
Note: The part of the 45 Degree Bracket left exposed will need to have enough room to fit a 15mm Extrusion, in a later step. Before moving on to the next step consider using a spare 15mm Extrusion to test that there is room to fit another Extrusion on the bracket.
Add the two Pre-Loaded 45 Degree Bracket and 15mm Extrusion - 150mm- 45° Ends assemblies to the Battery Holder Plate from the start of this assembly. Adjust the Plate so that both Extrusion pieces are in line with each other. Tighten the Nylock Nuts until snug.
Note: In the example images the Battery Holder Plate is sitting at the base of the Extrusions. This is to ensure the Extrusions are level with each other. The Plate can be adjusted later to a different position if needed.
45 Degree Assembly Complete.
Set the assembly aside for now.
Pre-load two Hex Cap Screws and Nyloc Nuts per onto the Holder plate Battery Plate, as shown.
Once the screws have been pre-loaded onto the Battery Holder Plate, set the Battery Holder Plate aside.
Slide a Pre-Loaded Inside Corner Bracket into the slot of a 15mm Extrusion - 225mm. Align the outer corner of the bracket with the end of the Extrusion. Tighten the Nylock Nuts until snug.
Repeat this process until you have two Pre-loaded Inside Corner Bracket and 15mm Extrusion - 225mm assemblies.
Add the two Pre-loaded Inside Corner Bracket and 15mm Extrusion - 225mm assemblies to the Battery Holder Plate from the start of this assembly. Adjust the Plate so that both Extrusion pieces are in line with each other. Tighten the Nylock Nuts until snug.
Note: Leave room between the ends of the Extrusions and the Edge of the Battery Holder Plate as shown in the image above. The space can be approximated for now and adjusted later to fit the Control Hub.
Add the Upright Assembly from above to the Internal Cross Members. Adjust until the Internal Cross Members are level with each other and the Upright Assembly is support on both Internal Cross Members. Tighten the Nylock Nuts until snug.
Add the 45 Degree Assembly to the Uprights. As you are sliding the 45 Degree Brackets down the Upright Extrusions add two M3 x 8mm Screws to both 15mm Extrusion - 150mm- 45° Ends. The screws should be on the same side of the Extrusions as the 45 Degree Brackets.
Once the Screws are added slide the 45 Degree Assembly down the Uprights until the assembly is flush with the Internal Cross members. Tighten the Nylock Nuts on the 45 Degree Brackets.
Note: It may be helpful when adding the screws to use gravity to your advantage
Lineup the M3 x 8mm Screws on the Internal Cross Members and 45 Degree Assembly so that a 45 Degree Bracket can be added to secure the assemblies together. Once the Bracket is added secure it with Nylon Nuts. Tighten the Nylock Nuts until snug.
Repeat until a 45 Degree Bracket has been added to both sides of the Internal Robot Frame.
Add two 15mm Extrusion - 225mm to the Inside Corner Brackets of the Internal Cross Members, as shown. The rest of the Internal Frame (i.e. the Internal Cross Member, 45 Degree, and Upright Assemblies) should be centered on each Extrusion.
Once centered tighten the Nylock Nuts on the Inside Corner Brackets until snug.
Internal Frame Assembly Complete
Set the assembly aside for now.
PART NUMBER
DESCRIPTION
QTY.
5MM X 135MM HEX SHAFT
4
THROUGH BORE BEARING - LONG
8
SHAFT COLLAR
12
90MM OMNI WHEEL
2
90MM TRACTION WHEEL
2
Add a Shaft Collar flush to the end of the 5mm x 135mm Hex Shaft. Tighten the Shaft Collar.
Slide a 90mm Traction Wheel onto the shaft.
Slide a 72 Tooth Gear onto the shaft.
Slide a Through Bore Bearing - Long onto the shaft.
Traction Wheel Assembly Complete.
Repeat the steps above to make a second Traction Wheel Assembly.
Add a Shaft Collar flush to the end of the 5mm x 135mm Hex Shaft. Tighten the Shaft Collar.
Slide a 90mm Omni Wheel onto the shaft.
Slide a Through Bore Bearing - Long onto the shaft.
Omni Wheel Assembly Complete.
Repeat the steps above to make a second Omni Wheel Assembly.
Slide a Traction Wheel Assembly through a an External Cross Member -Bearing Pillow Block, as shown. Add two Shaft Collars on the shaft and a Through Bore Bearing - Long. Both bearings should be facing toward the center of the chassis.
Slide the Traction Wheel Assembly through the Bearing Pillow Block on the nearby Internal Cross Member.
Note: Take time now to adjust the Traction Wheel Assembly and the UltraPlanetary Motor so that the gears are properly meshed. If needed loosen the screws on the motor bracket and slide it along the Extrusion to obtain the appropriate amount of gear mesh.
Tighten the Shaft Collars against the inside of either Bearing Pillow Block to secure the wheel as shown in the image above.
Repeat the previous steps to add the second Traction Wheel Assembly to the Robot Frame.
Slide a Omni Wheel Assembly through a an External Cross Member -Bearing Pillow Block, as shown. Add two Shaft Collars on the shaft and a Through Bore Bearing - Long. Both bearings should be facing toward the center of the chassis.
Slide the Omni Wheel Assembly through the Bearing Pillow Block on the nearby Internal Cross Member.
Tighten the Shaft Collars against the inside of either Bearing Pillow Block to secure the wheel as shown in the image above.
Wheel Assemblies Complete.
Repeat the above steps to attach a second Omni Wheel Assembly to the Robot Frame.
PARTS WITHIN THE ULTRAPLANETARY GEARBOX KIT
In the following steps two motor and cross member assemblies will be created, that that mirror each other but are not the exact same.
Attach the JST PH 4-Pin Sensor Cables and JST PH 2-Pin Motor Cables to the Motors before moving on to the next steps.
For more information on wiring the robot in the REV Control System please visit the page and the page.
PART NUMBER
DESCRIPTION
QTY.
15MM EXTRUSION - 225MM
2
15MM BEARING PILLOW BLOCK
4
15MM PLASTIC INSIDE CORNER BRACKET
4
ULTRAPLANETARY GEARBOX KIT & HD HEX MOTOR
2
45 TOOTH PLASTIC GEAR
2
M3 X 8MM HEX CAP SCREWS
10
M3 X 16MM HEX CAP SCREWS
6
JST PH 4-PIN SENSOR CABLE
2
JST VH 2-PIN MOTOR CABLE
2
ASSEMBLIES
PRE-LOADED INSIDE CORNER BRACKET
4
PRE-LOADED BEARING PILLOW BLOCK
4
ULTRAPLANETARY FLAT MOUNTING BRACKET
2
INTERNAL ROBOT FRAME ASSEMBLY
1
PART NUMBER
DESCRIPTION
QTY.
HD HEX MOTOR
1
ULTRAPLANETARY PINION GEAR (ON HD HEX MOTOR)
1
ULTRAPLANETARY MOUNTING PLATE
1
ULTRAPLANETARY CARTRIDGE 4:1
1
ULTRAPLANETARY CARTRIDGE 5:1
1
ULTRAPLANETARY OUTPUT STAGE
1
M3 X 30MM CAP HEAD SCREW
6
M3 X 8MM BUTTON HEAD SCREW
2
PART NUMBER
DESCRIPTION
QTY.
15MM EXTRUSION - 420MM
1
15MM PLASTIC INSIDE CORNER BRACKET
1
15MM PLASTIC 120 DEGREE BRACKET
3
15MM METAL BENT SERVO BRACKET V2
1
SMART ROBOT SERVO
1
ALUMINUM SERVO HORN
1
M3 X 8MM HEX CAP SCREWS
8
M3 NYLOC NUTS
10
M3 X 16MM HEX CAP SCREWS
4
ASSEMBLIES
PRE-LOADED BENT SERVO BRACKET
1
Attach the Servo to the Pre-Loaded Bent Servo Bracket using M3 x 8mm Screws and Nyloc Nuts. Tighten the Nylock Nuts until snug.
Attach two 120 Degree Brackets to each other using M3 x 16mm Screws and Nylock Nuts as show. Tight the Nylock Nuts until snug.
Attach the 120 Degree Bracket Assembly to the Aluminum Servo Horn using two M3 x 8mm Screws as shown. Tighten the screws until snug.
Note: The Aluminum Servo Horn is an orange aluminum, for this step it has been edit to grey so that the guides can be seen.
Attach the Servo Horn to the gear on the Servo.
Note: For this application the Servo Horn will just be placed onto the gear; in higher load applications the Servo Horn should be bolted to the Servo gear using a M3 Screw.
Servo Claw Assembly Complete.
Attach two M3 x 8mm Screws to a 120 Degree Bracket as shown.
Attach an Inside Corner Bracket to the 120 Degree Bracket using two M3 x 16mm Screws and Nylon Nuts as shown. Tighten the Nylon Nuts until snug.
Limit Switch Bumper Assembly Complete.
Slide the Servo Claw Assembly onto a 15mm Extrusion - 420mm. Adjust to whatever position is preferred. Once adjusted secure the assembly to the Extrusion by tightening the Nylock Nuts until snug.
Slide the Limit Switch Assembly onto a 15mm Extrusion - 420mm. Adjust to whatever position is preferred. Once adjusted secure the assembly to the Extrusion by tightening the Nylock Nuts until snug.
Note: For now the positioning of the Limit Switch Bumper is flexible. After the Touch Sensor is attached, adjust the bumper so that it presses the button when the arm is all the way down.
Slide the Arm Extrusion onto the gear using the M3 Screws that were attached to the gear during the Gear Assembly steps. Adjust to whatever position is preferred. Once adjusted secure the assembly to the gear by tightening the Nylock Nuts until snug.
Arm Complete.
Slide two Pre-Loaded Inside Corner Brackets into the slot of a 15mm Extrusion - 225mm. Align the outer corner of the bracket with the end of the Extrusion. Tighten the Nylock Nuts until snug.
Add two Pre-Loaded Bearing Pillow Blocks to the 15mm Extrusion, as shown. The edge of the Pillow Blocks should line up with the end of the Extrusion. Tighten the Nylock Nuts until snug.
External Cross Member Assembly Complete.
Repeat steps 1-2 until you have two External Cross Member Assemblies.
Attach the UltraPlanetary Mounting Plate to the HD Hex Motor using two 8mm Button Head Screws.
Note: Use the 2mm Allen Key to tighten these screws.
Seat the UltraPlanetary 5:1 Cartridge onto the input pinon.
Note: Placing a finger on the output of the 5:1 Cartridge and turning it helps for placement.
Seat the UltraPlanetary 4:1 Cartridge onto the UltraPlanetary 5:1 Cartridge.
Note: Placing a finger on the output of the 4:1 Cartridge and turning it helps for placement.
Seat the UltraPlanetary Output Stage onto the UltraPlanetary 4:1 Cartridge.
Note: Placing a finger on the output of the Output Cartridge and turning it helps for placement.
Insert six of the 30mm Cap Head Screws into the holes in the outer ring off the Output Cartridge.
Tighten these screws down until they are snug not tight using a 2.5mm allen wrench.
Note: The 30mm length is the 2nd longest screw provided with the UltraPlanetary Gearbox Kit.
Attach the Pre-Loaded UltraPlanetary Flat Mounting Bracket to the Output Cartridge using five M3 x 8mm Hex Head Screws. Tighten Screws until they are snug not tight.
Attach a 45 Tooth Plastic Gear to the Output Cartridge using three M3 16mm Hex Head Screws. Tighten Screws until they are snug not tight.
UltraPlanetary Assembly Complete.
Repeat steps steps until you have two UltraPlanetary Assemblies.
Set aside for later.
Add an UltraPlanetary Motor to the an External Cross Member by sliding the UltraPlanetary Flat Mounting Bracket through the Extrusion slot as shown. Adjust until the bracket is completely supported by the Extrusion. Tighten the Nylock Nuts until snug.
Note: going forward this will be known as the Right Motor and Cross Member Assembly.
Add an UltraPlanetary Motor to the an External Cross Member by sliding the UltraPlanetary Flat Mounting Bracket through the Extrusion slot as shown. Adjust until the bracket is completely supported by the Extrusion. Tighten the Nylock Nuts until snug.
Note: going forward this will be known as the Left Motor and Cross Member Assembly.
Add the Right Motor and Cross Member Assembly to the Internal Robot Frame Assembly. The outer edge of the Motor and Cross Member Assembly should be flush with the ends of the of the Internal Robot Frame Extrusions. Once adjusted tighten the Nylock Nuts on the Inside Corner Brackets until snug.
Add the Left Motor and Cross Member Assembly to the Internal Robot Frame Assembly. The outer edge of the Motor and Cross Member Assembly should be flush with the ends of the of the Internal Robot Frame Extrusions. Once adjusted tighten the Nylock Nuts on the Inside Corner Brackets until snug.
External Robot Frame Complete.
Set aside for later.
PART NUMBER
DESCRIPTION
QTY.
M3 X 8MM HEX CAP SCREWS
2
M3 NYLOC NUTS
4
M3 X 16MM HEX CAP SCREWS
2
SWITCH CABLE AND BRACKET
1
12V SLIM BATTERY
1
REV CONTROL HUB
1
TOUCH SENSOR
1
JST PH 4-PIN SENSOR CABLE
4
JST VH 2-PIN MOTOR CABLE
4
36" PWM CABLE
1
HOOK AND LOOP FASTENER
2
Attach the Control Hub to the Battery Holder Plate on the Uprights using two M3 x 16mm Screws and Nyloc Nuts. The Control Hub should be mounted to the plate using the third hole from the top of the plate as shown. Tighten the Nylock Nuts until snug.
Note: The Battery Holder Plate may need to be adjusted along the Uprights in order for the Hub to fit.
Use Hook and Loop Fastener to attach at 12V Slim Battery to the Battery Holder Plate on the 45 Degree Assembly.
Loosen the Shaft Collars on one of the Traction Wheel Assemblies and pull the wheel partially out of the Bearing Pillow Blocks as shown.
Slide a Touch Sensor, pre-loaded with M3 x 8mm Screws and Nylock Nuts, onto the Extrusion where the wheel was pulled out in the previous step. Adjust the Touch Sensor so that it is interacting with the Limit Switch Bumper on the arm.
Once the Touch Sensor is adjusted into place tighten the Nylock Nuts until snug.
Slide the Traction Wheel Assembly back into its proper place. Before tightening the Shaft Collars make sure that the gear on the wheel assembly is meshed with the gear on the UltraPlanetary Motor.
Slide the Switch into the Switch Mounting Bracket.
Pre-load the Switch Mounting Bracket with two M3 x 8mm Screws and Nylock Nuts.
Slide the down the upright on the opposite side from the Core Hex Motor, The switch will sit just above the 45 Degree Assembly
Connect the Control System to the Control Hub via the appropriate wires. For more information on wiring the robot in the REV Control System please visit the Cable and Connectors page and the Wiring Diagram page.
Class Bot Complete!
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