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PART NUMBER
DESCRIPTION
QTY.
15MM BEARING PILLOW BLOCK
16
15MM PLASTIC LAP CORNER BRACKET
16
15MM PLASTIC INSIDE CORNER BRACKET
8
15MM PLASTIC INDEXABLE MOTION BRACKET
4
ULTRAPLANETARY BENT MOUNTING BRACKET
2
ULTRAPLANETARY FLAT MOUNTING BRACKET
2
M3 X 8MM HEX CAP SCREWS
128
M3 NYLOC NUTS
128
The side of the bracket with “ribs” must have the Hex Cap Screw head.
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 sixteen Pre-Loaded Brackets.
The side of the bracket with “ribs” must have the Hex Cap Screw head.
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.
The side of the bracket with “ribs” must have the Hex Cap Screw head.
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 sixteen Pre-Loaded Brackets.
The side of the bracket with “ribs” must have the Hex Cap Screw head.
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 four 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
Repeat this step until you have two Pre-Loaded Brackets.
PART NUMBER
DESCRIPTION
QTY.
90MM GRIP WHEEL
1
END CAP BEARING
1
15MM SPACER
1
3MM SPACER
2
SHAFT COLLAR
1
THROUGH BORE BEARING - LONG
1
90 TOOTH PLASTIC GEAR
1
5MM X 135 MM HEX SHAFT
1
Add an End Cap Bearing to the 135 mm x 5mm Hex Shaft.
Slide a 3mm Spacer onto the shaft.
Slide a 90mm Grip Wheel onto the shaft.
Slide a 90 Tooth Plastic Gear onto the shaft.
Slide a 15mm Spacer onto the shaft.
Slide a 3mm Spacer onto the shaft.
Slide a Shaft Collar onto the shaft. Make sure the shaft collar is flush with the 3mm Spacer. Tighten the set screw.
Slide a Through Bore Bearing - Long onto the Shaft.
Note: the longer portion of the bearing faces away from the Shaft Collar.
MIDDLE GRIP WHEEL ASSEMBLY COMPLETE
Repeat the above steps until there are two completed Middle Grip Wheel Assemblies. Set aside for later.
PART NUMBER
DESCRIPTION
QTY.
90MM OMNI WHEEL
1
END CAP BEARING
2
3MM SPACER
2
90 TOOTH PLASTIC GEAR
1
5MM X 75MM HEX SHAFT
1
Add an End Cap Bearing to the 75mm x 5mm Hex Shaft.
Slide a 3mm Spacer onto the shaft.
Slide a 3mm Spacer onto the shaft.
Slide a 90mm Omni Wheel onto the shaft.
Slide an 90 Tooth Plastic Gear onto the shaft.
Add an End Cap Bearing to the shaft.
Note: the smaller portion of the bearing faces away from the gear
OMNI WHEEL ASSEMBLY COMPLETE.
Repeat the above steps until there are two completed Omni Wheel Assemblies. Set aside for later.
The FTC Starter Kit comes with two of the UltraPlanetary Gearbox Kits with HD Hex Motors. This is an entry point into using the REV UltraPlanetary System. There are three UltraPlanetary Cartridges supporting seven different final gear reductions ranging from nominally 3:1 to 60:1. This allows for the right amount of torque for the application at hand. The motor provided already has the pinion gear pressed onto it making assembly of gearboxes easier.
When getting started with this drivetrain, it is recommended to use a nominal 20:1 Gear Ratio. This uses the UltraPlanetary 5:1 Cartridge and the UltraPlanetary 4:1 Cartridge. For more information on all gear ratio options, load ratings, and more, see the UltraPlanetary Gearbox User’s Manual on revrobotics.com.
PARTS WITHIN THE ULTRAPLANETARY GEARBOX KIT
PART NUMBER
DESCRIPTION
QTY.
M3 X 35MM HEX CAP SCREWS
3
45 TOOTH PLASTIC GEAR
1
15 TOOTH #25 SPROCKET
1
M3 X 8MM HEX CAP SCREWS
3
ASSEMBLIES
PRE-LOADED ULTRAPLANETARY FLAT MOUNTING BRACKET
1
PRE-LOADED ULTRAPLANETARY BENT MOUNTING BRACKET
1
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
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 and the Pre-Loaded UltraPlanetary Bent Mounting Bracket to the Output Cartridge using three M3 x 8mm Hex Head Screws. Tighten Screws until they are snug not tight.
Line up a 15 Tooth #25 Sprocket and a 45 Tooth Plastic Gear with the holes on the UltraPlanetary Output Stage.
Use three M3 x 35mm Hex Cap Screws to attach the Sprocket and Gear to the Output Stage. Tighten screws until snug.
ULTRAPLANETARY ASSEMBLY COMPLETE
Repeat the above steps until there are two completed UltraPlanetary Assemblies. Set aside for later.
PART NUMBER
DESCRIPTION
QTY.
15MM EXTRUSION - 225MM
4
15MM EXTRUSION - 420MM
2
ASSEMBLIES
PRE-LOADED INSIDE CORNER BRACKET
8
Slide the Pre-Loaded Inside Corner Bracket along a 15mm Extrusion - 225mm just far enough, so that the corner of the bracket is flush with the end of the Extrusions. Tighten the Nylock Nuts until snug.
Add another Pre-Loaded Inside Corner Bracket to the opposing side of the Extrusion from the other Inside Corner Bracket. Tighten the Nylock Nuts until snug.
Internal Cross Member Assembly Complete
Repeat the step above until you have four complete Internal Cross Member Assemblies.
Slide an Internal Cross Member between two 15mm Extrusion - 420mm until the Cross Member sits roughly towards the middle of the Extrusions. Tighten the Nylock Nuts on the Brackets until snug.
Slide another Internal Cross Member Assembly along the 15mm Extrusion - 420mm, until the end of the Cross Member Extrusion is flush with the ends of the assembly. Tighten the Nylock Nuts until snug.
On the opposite side of the Internal Chassis Frame from the previous two Cross Members, add another Cross Member to the assembly. Slide the Cross Member towards the middle of the two 15mm Extrusion - 420mm. Tighten the Nylock Nuts until snug.
Slide another Internal Cross Member Assembly along the 15mm Extrusion - 420mm, until the end of the Cross Member Extrusion is flush with the ends of the assembly. Tighten the Nylock Nuts until snug.
INTERNAL CHASSIS FRAME COMPLETE
Make any final adjustments to the Cross Members. The two outer Cross Members should be flush with the ends of the two 15mm Extrusion - 420mm. All Cross Members should be parallel.
PART NUMBER
DESCRIPTION
QTY.
END CAP BEARING
2
15MM SPACER
1
SHAFT COLLAR
1
72 TOOTH PLASTIC GEAR
1
5MM X 75MM HEX SHAFT
1
Add an End Cap Bearing to the 75mm x 5mm Hex Shaft.
Slide a Shaft Collar onto the shaft. Tighten the set screw.
Note: the Shaft Collar should be flush with the bearing.
Slide a 15mm Spacer onto the shaft.
Slide an 72 Tooth Plastic Gear onto the shaft
Add an End Cap Bearing to the shaft.
Note: the smaller portion of the bearing faces away from the gear
GEAR IDLER ASSEMBLY COMPLETE.
Repeat the above steps until there are four completed Gear Idler Assemblies. Set aside for later.
PART NUMBER
DESCRIPTION
QTY.
90MM OMNI WHEEL
1
END CAP BEARING
2
3MM SPACER
2
90 TOOTH PLASTIC GEAR
1
5MM X 75MM HEX SHAFT
1
Add an End Cap Bearing to the 75mm x 5mm Hex Shaft.
Slide a 3mm Spacer onto the shaft.
Slide a 3mm Spacer onto the shaft.
Slide a 90mm Grip Wheel onto the shaft.
Slide an 90 Tooth Plastic Gear onto the shaft.
Add an End Cap Bearing to the shaft.
Note: the smaller portion of the bearing faces away from the gear
FRONT GRIP WHEEL ASSEMBLY COMPLETE.
Repeat the above steps until there are two completed Front Grip Wheel Assemblies. Set aside for later.
This section outlines the steps required to build a six-wheel, extrusion-based gear drivetrain using parts from the FTC Starter Kit V3 (). This design is a good starting point. However, modification maybe required to address the specific needs of the robot being designed. This design is flexible, allowing for different wheel types depending on the overall requirements of the drive train.
The assembly of this drivetrain 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 Extrusion Gear Drivetrain is built out of the following kits:
Part Number
Description
QTY.
FTC Starter Kit V3
1
Part Number
Description
QTY.
FTC Starter Kit V2
1
V2 To V3 Update Bundle
1
Part Number
Description
QTY.
90MM OMNI WHEEL
2
90MM GRIP WHEEL
4
15MM PLASTIC INDEXABLE MOTION BRACKET
4
15MM BEARING PILLOW BLOCK
16
15MM PLASTIC INSIDE CORNER BRACKET
8
15MM PLASTIC LAP CORNER BRACKET
16
END CAP BEARING
18
15MM SPACER
6
3MM SPACER
12
SHAFT COLLAR
6
THROUGH BORE BEARING - LONG
2
45 TOOTH PLASTIC GEAR
2
72 TOOTH PLASTIC GEAR
4
90 TOOTH PLASTIC GEAR
1
15 TOOTH #25 SPROCKET
2
5MM X 75MM HEX SHAFT
8
5MM X 135 MM HEX SHAFT
1
15MM EXTRUSION - 225MM
4
15MM EXTRUSION - 420MM
6
ULTRAPLANETARY GEARBOX KIT & HD HEX MOTOR
2
ULTRAPLANETARY BENT MOUNTING BRACKET
2
ULTRAPLANETARY FLAT MOUNTING BRACKET
2
M3 X 35MM HEX CAP SCREWS - 50 PACK
1
M3 X 8MM HEX CAP SCREWS - 100 PACK
2
M3 NYLOC NUTS - 100 PACK
2
PART NUMBER
DESCRIPTION
QTY.
15MM EXTRUSION - 420MM
4
ASSEMBLIES
PRE-LOADED LAP CORNER BRACKET
16
PRE-LOADED BEARING PILLOW BLOCK
16
PRE-LOADED INDEXABLE MOTION BRACKET
4
OMNI WHEEL ASSEMBLY
2
MIDDLE GRIP WHEEL ASSEMBLY
2
FRONT GRIP WHEEL ASSEMBLY
2
GEAR IDLER ASSEMBLY
4
INTERNAL CHASSIS FRAME
1
The following steps include meshing gears in order to build the power train. If you are unfamiliar with how to properly space gears please our Gear Spacing article.
Add two Pre-Loaded Lap Corner Brackets to the Internal Chassis Frame as shown. Tighten Nylock Nuts until snug.
Note: The edge of the Lap Corner Brackets should be flush with the end of the Extrusion.
Add two Pre-Loaded Lap Corner Brackets to the Internal Chassis Frame as shown. Tighten Nylock Nuts until snug.
Note: The Lap Corner Brackets should have enough space from the edge of the space to slide in a 15mm Extrusion.
Slide a 15mm Extrusion – 420mm into the Pre-Loaded Brackets until the Extrusion is roughly central to the center of the Internal Chassis Frame center.
Add two Pre-Loaded Lap Corner Brackets to the 15mm Extrusion – 420mm as shown. Tighten Nylock Nuts until snug.
Note: The Lap Corner Brackets should have enough space from the edge of the space to slide in a 15mm Extrusion.
Add two Pre-Loaded Lap Corner Brackets to the 15mm Extrusion – 420mm as shown. Tighten Nylock Nuts until snug.
Note: The edge of the Lap Corner Brackets should be flush with the end of the Extrusion
Slide two 15mm Extrusion – 420mm into the Pre-Loaded Lap Corner Brackets as shown. The ends of the Extrusions should be flush with the edge of the perpendicular Extrusion. Tighten Nylock Nuts until snug.
Add two Pre-Loaded Bearing Pillow Blocks to the Omni Wheel Assembly.
Slide the Omni Wheel Assembly onto the under side of the Chassis as shown in the image.
Repeat the two previous steps to add the second Omni Wheel Assembly to the other side of the Chassis Assembly. Adjust wheels and tighten Nylock Nuts.
Note: You will want the Omni Wheel Assemblies to be even. A good way of ensuring they are even is to use one of the Cross Members as a reference point as show in the image.
Slide an UltraPlanetary Gearbox Assembly along the 15mm Extrusion - 420mm of the Internal Chassis Frame, until the 45 Tooth Plastic Gear is meshed with the gear of the Omni Wheel Assembly. Tighten the Nylock Nuts until snug.
Note: Ensure that the pre-loaded M3 x 8mm Screws on both brackets are interlocked with the Extrusion slots.
Repeat the two previous steps to add the second UltraPlanetary Gearbox Assembly to the other side of the Chassis Assembly.
Add two Pre-Loaded Bearing Pillow Blocks to a Gear Idler Assembly.
Slide the Gear Idler Assembly onto the under side of the Chassis as shown in the image. Tighten Nylock Nuts until snug.
Note: The Gear on the Gear Idler Assembly should be messed with the gear on the Omni Wheel Assembly.
Repeat the two previous steps to add another Gear Idler Assembly to the other side of the Chassis.
Remove two of the Inside Cross Member by loosening the screws on the Inside Corner Brackets, as shown in the image. Set the Inside Cross Members aside for later
Add two Pre-Loaded 15mm Plastic Indexable Motion Brackets to the Middle Grip Wheel Assembly.
Note: Notice that both Indexable Motion Brackets are facing the same direction
Slide the Middle Grip Wheel Assembly onto the chassis.
Repeat the previous two steps to add the second Middle Grip Assembly onto the other side of the chassis.
Add the Inside Cross Members back to chassis.
Add two Pre-Loaded Bearing Pillow Blocks to a Gear Idler Assembly.
Slide the Gear Idler Assembly onto the under side of the Chassis as shown in the image. Tighten Nylock Nuts until snug.
Note: The Gear on the Gear Idler Assembly should be messed with the gear on the Omni Wheel Assembly.
Repeat the two previous steps to add another Gear Idler Assembly to the other side of the Chassis.
Add two Pre-Loaded Bearing Pillow Blocks to a Front Grip Wheel Assembly.
Slide the Front Grip Wheel Assembly onto the under side of the Chassis as shown in the image.
Repeat the two previous steps to add another Front Grip Wheel Assembly to the other side of the Chassis.
Add 8 Pre-loaded Lap Corner Brackets onto the ends of the extrusions. See next step for placement.
The Lap Corner Brackets will be used to slide in the final piece of Extrusion to close the Chassis.
Four brackets will be flush with the end of the exposed Extrusions and used to support the bottom of the Extrusions. The Other Four will be used to support the side of the Extrusions as seen in the image.
Slide a 15mm Extrusion – 420mm into the Pre-Loaded Brackets until the Extrusion is seated through all brackets.
GEAR DRIVETRAIN COMPLETE!
