omnidrive platform 210 order.no. qaaa004 · 2012. 5. 9. · omnidrive platform 210 order.no....
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Data sheet D0501007R1
Omnidrive platform 210Order.No. QAAA004 www.qfix.de
Contents• Round base plate of anodized aluminium, diameter 210mm• 3 Gear motors Ceiec (RBAC008)• 3 Omni wheels 40mm (RBAF006) • 3 Motor mounts, wheel bushes, screws
Required accessories• Controller board „SoccerBoard“ (HBAA007)• Battery set (e.g. QAAC002 with 9.6V battery)
Expansion Sets• Soccer extension „Kicker“ (QAAB011)• Soccer extension „Dribbler“ (QAAB013)• Soccer ball sensor (QAAB012)• Linien sensor set (QAAB000)• Bumper set (QAAB005)• LC-display board 4x20 (QAAF001)• Metal building block (QAAD...)
KTB mechatronics GmbH Helfensteinerstraße 26 89143 BlaubeurenGermany
tel fax mail web
+49-7344-929330 +49-7344-929331 [email protected] www.ktb-mechatronics.de
Data sheet D0501007R1
Omnidrive platform 210Order.No. QAAA004 www.qfix.de
Instructions
Step 1 – Assembling the wheels
For assemlby of the wheels, the following components are required:
• 1x Omni wheel• 1x Wheel bush• 1x Countersunk screw M6x10• 1x Setscrew M3x4
First of all, the small setscrew should be screwed into the side of the wheel bush. Next, thewheel bush should be pushed as far as possible into the wheel, so that the countersunkscrew can be inserted from the other side. This is then tightened with the appropriatehexagonal wrench.
The assembled wheels are shown in the next picture:
Step 2 – Assembling the motors
In order that the motors can subsequently be screwed on to the base plate, they must firstof all be assembled on the motor mounts. The required components are shown in the nextpicture:
• 1x Motor• 1x Motor mount• 2x Screw M2.5x6
KTB mechatronics GmbH Helfensteinerstraße 26 89143 BlaubeurenGermany
tel fax mail web
+49-7344-929330 +49-7344-929331 [email protected] www.ktb-mechatronics.de
Data sheet D0501007R1
Omnidrive platform 210Order.No. QAAA004 www.qfix.de
The motors are located in the large recess of the motor mounts and tightened usingsmall screws.
The assembled motors are shown in the next picture:
Step 3 – Mounting motors and wheels
Next, the pre-assembled motors and wheels are required:
• 1x Assembled motor • 1x Assembled omni wheel
The wheels are placed on to the motor axles and the setscrew is tightened:
KTB mechatronics GmbH Helfensteinerstraße 26 89143 BlaubeurenGermany
tel fax mail web
+49-7344-929330 +49-7344-929331 [email protected] www.ktb-mechatronics.de
Data sheet D0501007R1
Omnidrive platform 210Order.No. QAAA004 www.qfix.de
Step 4 – Mounting the drives
In this step, the pre-assembled drives can be mounted on the base plate. The followingcomponents are required:
• 3x Assembled drive• 1x Base plate• 6x Screws M6x10
The motor mounts are placed under the respective drill hole and screwed from above with the screws.
The following picture shows the finished omnidrive platform:
KTB mechatronics GmbH Helfensteinerstraße 26 89143 BlaubeurenGermany
tel fax mail web
+49-7344-929330 +49-7344-929331 [email protected] www.ktb-mechatronics.de
Data sheet D0501007R1
Omnidrive platform 210Order.No. QAAA004 www.qfix.de
Sample program „omni-test“
This program uses the qfix SoccerBoard to control the omni platform. Here, the left motor is connecte to Mo0, the right one to Mo1, and the back motor to Mo2.
#include "qfixSoccerBoard.h"SoccerBoard robot;void motors(int left, int right, int back){ robot.motor(0,left); robot.motor(1,right); robot.motor(2,back);}int main(){ motors(255,-255,0); // forward wait(5); motors(255,-255,0); // backward wait(5); motors(255,255,255); // rotate left wait(5); motors(-255,-255,-255); // rotate right wait(5);}
KTB mechatronics GmbH Helfensteinerstraße 26 89143 BlaubeurenGermany
tel fax mail web
+49-7344-929330 +49-7344-929331 [email protected] www.ktb-mechatronics.de