Re: [mowbot] Basic platform: worm gear motor

Dave Everett (deverett nospam at idx.com.au)
Thu, 14 May 1998 17:29:54 +1000

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At , you wrote:
>
>> At 02:50 PM 13-05-98 -0700, you wrote:
>> >> I chose motors used for car electric windows, they came from
>> >> http://allcorp.com
>> >> and cost $14.97 each and outputs 40RPM, the part number is DCM-64. All
>> >> Electronics have other motors that may be suitable, and specifically
>> >> another electic window motor with an output speed of 120RPM.
>
>Dave, as I'm sure you well know All electronics offers a wide variety
>of surplus items. Let's say for the sake of argument, your motors failed
>today and you needed to replace them. Wisely you consult the latest All
>electronics motor catalog pages on the Web (which incidentally were just
>updated today) and for find the following contestants:
[Snipped]

>Would any of these fill in as a replacement? Why?

In a word 'no'. When I wrote that message, All Electronics still had their
old pages up, as I checked to get the right part number as shown above
(DCM-64)

I'm not saying the motors would be unsuitable for mowbots, just not
suitable as a replacement for the current motor I'm using.

Of the motors listed, the DCM-96 worm drive motor would be unsuitable, as
the output shaft looks too small to mount a wheel securely to. I also note
that the worm gear is not secured at the far end, so under strain it would
tend to push away from the drive gear.

Both the DCM-101 and DCM-99 look promising, although they would require
dynamic braking. Both could be controlled by LM18200's (H-Bridge chip made
by National Semiconductor). The 18200 can handle 3 amps continuous and 6
amps peak, it also has a dynamic braking input which is quite effective.
You would need 3 lines for each motor: Direction, PWM and Brake. I think
Wirz sell them http://www.wirz.com

>
>And if you get a chance can you tell us a bit more about the interface
>between the motors and the drive wheels? I know you said you had axles
>lathed but I'm particularly interested in how you interfaced the motor
>axel and wheel. I didn't see a close up or drawing on the website.

The axle is a single steel rod, it is lathed down to take the wheel with a
screw thread for locking the wheel to the axle, the shaft gets thicker
after this to fit snugly in the bearing, between the bearing and the next
section I have atteched an aluminium disc with a reflector pattern on it
for odometry, the next section has a hole bored from the end for the motors
output shaft to fit into. 4 grub screws around the circumference lock the
shaft to the motor.

I've attached a small JPG to this message which shows the motor and how it
is connected to the chassis, not sure if the list will handle it. Sadly I
don't have any other images of those parts, but I'll think about
disassembling Grassy if it would help.
>
>Lastly, you laughed heartily at keeping the platform in the $300/$400 US
>ballpark, but you never followed up.

When you clarified that you meant the cost to only cover the basic platform
I stopped laughing :-) I thought you meant a ready to run Mowbot with all
the trimmings. My base has cost a little over $200, $350 if you include the
casting, machining, lathing and materials for the axles and bearings. The
mechanical costs could be minimised as I say by the use of flange bearings.
This would eliminate the cost of sealed steel bearing, manufacture of a
casting master, casting (which was expensive) and machining and lathing of
the bearing cast. If you couldn't make such a platform for $250 you'd want
to consider giving the game away.

>BTW I plan to prototype with wood. It's heavier and less sturdy than
>metal, but it's cheap and plentiful and infinitely sawable, drillable, etc.

Yep. I just find it easier to turn out a good job with aluminium, but wood
will certainly do the trick.
>
>You guys just don't know how glad I am to see this list alive again.
>
You're not the only one <g>
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Dave Everett

Mowbot Project Website
http://www.idx.com.au/~deverett/mowbot/index.htm
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