1. Full Robot Assembly
Main Assembly 1
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2. 5.361.273.661.693.190.86
5.92
3.84 2.086.12
2.750.70 2.09
Main Assembly Top
Main Assembly 2
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3. B5B5
B5B5
B3B3
B3 B3
B4 B4
B1
B1
B1
B1
B2
B2
B2
B2
Assembly Number Assembly Name Quantity
B1 Base L Mount HardwareAssembly 4
B2 Motor L Mount Hardware Assembly 4
B3 Motor U Mount Hardware Assembly 4
B4 Pillow Block Hardware Assembly 2
B5 Guide Assembly 4
Base Frame Assembly
Assembly A1
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4. 0.160.25 0.25 0.25 0.16 0.25
0.25
0.25
0.25
0.25
16.00
0.17 0.170.23
0.301.75
0.20
R0.16
0.16
0.250.25
0.500.16
R0.79
R0.66
15.00
2.99
0.10
0.186.200.184.72
0.58 1.88 3.01 4.06 3.01 1.88 0.58
0.84
0.66
1.50
0.66
0.85
0.75
0.75
1.251.751.72
8.110.56 1.39 2.49
0.46
0.39
1.101.54
2.08
0.301.952.47
0.18
6.20
0.18
3.99
0.73
1.96
0.22 0.31
0.50
0.75
0.85
2.001.00
The base was manufactured in the same way in that once the original
dimensions were set they were cut to size on the band saw, de-burred on the
grinder, and then were ready to be laid out. First the holes for the base L
brackets were drilled to have a rigid frame, then as the robot became more
complex the frame was altered to accommodate. This mainly required drilling
holes with either the drill press or power drill, but the mill was also used to
create a slide for the tracks. This was done manually without a G-code due to its
simple geometry. To ensure safe practice the RPM of the end-mill and feed rate
were watched closely to make sure they were the right values for aluminum.
Decimal Tolerance
0.0 ±0.01
0.00 ±0.005
0.000 ±0.001
Base Frame
A223
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5. A116
A228
A230
A231
Part Number Part Name Quantity
A116 Base L Mount 1
A228 1/4"-20 x 3/4" Bolt 4
A230 1/4"-20 Nut 4
A231 1/4" Washer 8
Base L Mount Assembly
Assembly B1
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6. A227A224
A241
A225
A226
A223
Part Number Part Name Quantity
A223 Track Guide 1
A224 8-32 x 1/2" Bolt 1
A225 8-32 Nut 2
A226 Size 8Lock Washer 2
A227 Size 8 Washer 2
A241 8-32 x 1/2 Button
Head Bolt 1
Track Guide Assembly
Assembly B3
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7. A115 A224
A224
A225
A227
A226
Part Number Part Name Quantity
A115 Motor L Mount 1
A224 8-32 x 1/2" Bolt 1
A225 8-32 Nut 1
A226 8-32 Lock Washer 1
A227 8-32 Washer 2
Motor L Mount Assembly
Assembly B2
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8. A242 A226 A227
A225
A223
Part Number Part Name Quantity
A223 Servo Spacer 1
A225 8-32 Nut 2
A226 Size 8 Lock Washer 2
A227 Size 8 Washer 2
A242 8-32 x 1 1/2 Bolt 2
Cutting Device
Hardware Assembly
Assembly B4
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9. A115A115
A117
A224
A224
A227
A109 A111 A113
A446
A120
Part Number Part Name Quantity
A109 1/2" Rear Drive
Shaft 1
A111 Pillow Block 1
A113 !/2" Shaft Collar 1
A115 Motor L Mount 2
A117 Rear Drive Wheel 1
A120 Motor U Mount 1
A224 8-32 x 1/2" 2
A227 1/4-20 x 1/4" 1
A446 Motor 1
Rear Drive Assembly
Assembly A2
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10. 2.00
0.50
R0.10
0.70 0.65
1.25
R0.50
4.00
R0.30
1.13
This part was manufactured from 4” caster wheels bought at Home Depot. They were manufactured
by hand on the small mill. First the wheels were removed from the caster mount and were then laid
out using the track to ensure that the cogs were to be in the right spot. It was found that there needed
to be 55 cogs on this wheel. Once they were all marked on the wheel material was taken off using
the mill and by rotating the wheel and making the same cut over and over until complete. This was
done for both rear drive wheels.
Decimal Tolerance
0.0 ±0.01
0.00 ±0.005
0.000 ±0.001
Rear Drive Wheel
A117
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Vulcanized Rubber
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11. 0.50
5.25
0.05
0.500-
0.000
0.0020.25
0.25
1/4-20 Tapped Hole
0.50
0.40
*Unless Otherwise Specified
This 1/2” x 12” steel drive shaft was purchased from McMaster-Carr and was then altered to make two similar but separate drive shafts. First the
12” shaft was cut into two 5 ½” sections by the band saw and was de-burred on the sander to minimize them material taken off. Once they were
de-burred they were ready to be bored out. This was done on the large lathe with the help of Jon Buckley. Each piece was first drilled out to a
size roughly 10/1000” smaller than desired and was then bored out to the exact size of a quarter inch. This hole was made to be 3/8” deep to fit
completely over the motor shaft. Once the pieces were bored out they were ready to be tapped so a set screw could secure them to the motor.
This was done by choosing the appropriate size set screw, ¼”-20 x ¼” in this case, and then drilling the correct size tap hole. Once the tap holes
were set the shafts were tapped manually. This process was the most technical of all in that it required the tap to be perpendicular to the plane
tangent to the top of the shaft. It was also important to use cutting fluid to remove excess material so debris wouldn’t mess up the thread pattern.
Once this was complete the shafts were easily connected to the motors. Note that for all machining of steel feed rates and RPM’s need to be
reduced to protect the part and the equipment due to steel being much stronger and less workable than aluminum.
Decimal Tolerance
0.0 ±0.01
0.00 ±0.005
0.000 ±0.001
Rear Drive Shaft
A109
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1566 Steel
A2
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12. 1.58
0.21
2.00
0.25
0.14
1.50
4.10 0.56
1.332.300.36
Decimal Tolerance
0.0 ±0.01
0.00 ±0.005
0.000 ±0.001
Motor
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13. Part Number Part Name Quantity
A110 Front Guide Wheel 2
A112 5/16" Shaft Collar 4
A114 Turnbuckle 2
A223 Front Drive Shaft 1
Front Drive Assembly
Assembly A3
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14. 0.3125
1.00
0.49
2.50
2.80
0.20
1.25
R0.50
R0.30
This part was also manufactured from caster wheels purchased at Home Depot
and but they were 2 ½” instead of 4”. They were also manufactured on the small
mill. Once the distance between the bands in the V-belt was measured, the wheels
were manufactured on the mill by inserting a bolt through the center of the wheel
into the mill base for the wheel to rotate about. The mill was then set to the
correct height and was moved into the wheel to begin the cut. The wheel was then
rotated about the bolt resulting in an even cut all the way around the wheel. This
was also done for both wheels
Decimal Tolerance
0.0 ±0.01
0.00 ±0.005
0.000 ±0.001
Front Guide Wheel
A110
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Vulcanized Rubber
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15. 20.50 0.313 -
0.000
0.002
0.11
*Unless Otherwise Specified
This Guide Shaft was Purchased from
McMaster Carr and was cut down to size on
the band saw
Decimal Tolerance
0.0 ±0.01
0.00 ±0.005
0.000 ±0.001
Front Drive Shaft
A223
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12L14 Steel
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16. R0.16
5/32"-32 Thread
1.75
3.38
R0.06 Decimal Tolerance
0.0 ±0.01
0.00 ±0.005
0.000 ±0.001
Turnbuckle
A114
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17. B7
B8
B5
B6
Assembly Number Assembly Name Quantity
B5 Air/Soil Base Assembly 1
B6 Air/Soil Servo Assembly 1
B7 Soil Arm Assembly 1
B8 Air Arm Assembly 1
Air/Soil Sample
Assembly
Assembly A4
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18. B002
B004
B005
B006
B009
B010
B003 B006B008
B005
B009
B010
B007
B001
PART NUMBER Part Name Quantity
B001 Air Tank 1
B002 Air Sample L Support 1
B003 Air/Soil Sample Base 1
B004 Servo L Support 2
B005 6-32 5/8" Bolt 6
B006 6-32 1/2" Bolt 3
B007 6-32 1/2" Buttonhead Bolt 1
B008 No. 6 Lock Washer 9
B009 6-32 Nut 10
B010 No 6. Washer 10
Air/Soil Base
Assembly
Assembly B5
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19. B011
B013
B012
PART NUMBER Part Name Quantity
B011 Soil Servo Motor 1
B012 Soil Servo Spacer 1
B013 Soil Servo Brace 1
Air/Soil Sampler
Servo Assembly
Assembly B6
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N/A
A3
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20. B014
B009
B017
B016
B008
B015
PART NUMBER Part Name Quantity
B008 No. 6 Lock Washer 3
B009 6-32 Nut 3
B014 Soil Samle Arm 1
B015 Air Sample Release Arm 1
B016 6-32 5/16" Bolt 2
B017 6-32 3/8" Bolt 1
Soil Sampler Arm
Assembly
Assembly B7
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21. B018 B019
B020
B021
B023B024
B022
PART NUMBER Part Name Quantity
B018 Air Sampler Arm 1
B019 Air Sampler L Bracket 1
B020 Air Sampler Cap 1
B021 8-32 1/2" ButtonheadBolt 3
B022 8-32 Nut 3
B023 No. 8 Washer 3
B024 No. 8 Lock Washer 3
Air Sample Arm
Assembly
Assembly B8
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22. B9
B10
B11
Assembly Number Assembly Name Quantity
B9 Gear Shaft Assembly 1
B10 Cutting Tool Assembly 1
B11 Gear Motor Assembly 1
Cutting Device
Assembly
Assembly A5
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23. B024
B028
B022
B023
B026
B029
B025
B030
B027
PART NUMBER Part Name Quanity
B022 8-32 Nut 4
B023 No. 8 Washer 4
B024 No. 8 Lock Washer 4
B025 8-32 1/2" Bolt 4
B026 3/8" Acme Threaded Rod 1
B027 12 Pitch 12 Teeth Pinion Gear 1
B028 3/8"-1/2" Spacer Sleeve 1
B008 3/16" Self Locking Gear Pin 1
B030 Acme Support Mount 2
Cutting Device Gear
Shaft Assembly
Assembly B9
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N/A
A3
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24. 0.500
R0.19
1.25
0.375
0.25
0.19
0.75 0.50
0.75
This part was purchased form McMaster-
Carr and was then machined on the drill
press in order to insert the gear pin
Decimal Tolerance
0.0 ±0.01
0.00 ±0.005
0.000 ±0.001
12 Pitch 12 Teeth
Pinon Gear
B027
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Steel
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25. B017
B031
B010
B032
B033
Part Number Part Name Quantity
B010 No. 6 Washer 2
B017 6-32 3/8" Bolt 2
B031 3/8" Acme Square Nut 1
B032 Cutting Tool 1
B033 Cutting Tool Support Slide 1
Cutting Tool Assembly
Assembly B10
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N/A
A3
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26. 0.12 0.56
6.40
29.09°
0.225
0.13
0.40
Decimal Tolerance
0.0 ±0.01
0.00 ±0.005
0.000 ±0.001
Cutting Device
B032
Team Yellow
5/27/14Luke Skelly
WEIGHT:
Hardened Steel
A3
SHEET 1 OF 1SCALE:1:2
DWG NO.
TITLE:
REVISIONDO NOT SCALE DRAWING
MATERIAL:
DATESIGNATURENAME
DEBUR AND
BREAK SHARP
EDGES
FINISH:UNLESS OTHERWISE SPECIFIED:
DIMENSIONS ARE IN INCHES
SURFACE FINISH:
TOLERANCES:
LINEAR:
ANGULAR:
Q.A
MFG
APPV'D
CHK'D
DRAWN
SolidWorks Student Edition.
For Academic Use Only.

27. B034
B035
B022
B023
B024
B021
B036
B037
Part Number Part Name Quantity
B021 8-32 1/2" Buttonhead Bolt 2
B022 8-32 Nut 2
B023 No. 8 Washer 2
B024 No. 8 Lock Washer 2
B034 Car Window Motor 1
B035 Motor L Slide 2
B036 1/4"-20 1" Bolt 2
B037 1/4" Lock Washer 2
Gear Motor Assembly
Assembly B11
Team Yellow
5/27/14Luke Skelly
WEIGHT:
N/A
A3
SHEET 1 OF 1SCALE:1:2
DWG NO.
TITLE:
REVISIONDO NOT SCALE DRAWING
MATERIAL:
DATESIGNATURENAME
DEBUR AND
BREAK SHARP
EDGES
FINISH:UNLESS OTHERWISE SPECIFIED:
DIMENSIONS ARE IN INCHES
SURFACE FINISH:
TOLERANCES:
LINEAR:
ANGULAR:
Q.A
MFG
APPV'D
CHK'D
DRAWN
SolidWorks Student Edition.
For Academic Use Only.

28. R2.41
R1.66
11.75
11.77
0.24 R0.10
0.20
0.5250.525
1.25
Decimal Tolerance
0.0 ±0.01
0.00 ±0.005
0.000 ±0.001
Track
A549
Team Yellow
3/9/14Luke Skelly
WEIGHT:
Vulcanized Rubber
A3
SHEET 1 OF 1SCALE:1:5
DWG NO.
TITLE:
REVISIONDO NOT SCALE DRAWING
MATERIAL:
DATESIGNATURENAME
DEBUR AND
BREAK SHARP
EDGES
FINISH:UNLESS OTHERWISE SPECIFIED:
DIMENSIONS ARE IN INCHES
SURFACE FINISH:
TOLERANCES:
LINEAR:
ANGULAR:
Q.A
MFG
APPV'D
CHK'D
DRAWN
SolidWorks Student Edition.
For Academic Use Only.