Nisso-Denko (Window) Motor Locking Pins
From DEW Robotics
Revision as of 12:31, 27 May 2010 by MaiKangWei (talk | contribs)
Team 1640's 2010 BREAKAWAY robot, DEWBOT VI is equipped with a a novel, award-winning multi-mode, 4-wheel independent pivot drive-train. Kit-of-Parts Nisso-Denko (Window) Motors were selected as steering motors for the four (4) pivots. These steering motors are driven by tan Jaguar motor controllers.
1640 has experienced on-going, intermittant lock-up of the steering motors during practice and competition. Symptoms are:
- One pivot suddenly ceases to respond to control, becoming locked at current angle
- Wheel drive (CIM) continues to operate. So do the other pivots' steering
- Motor at low temperature when lock-up occurs, but rapidly becomes too hot to touch.
- Jaguar LED indicates that full power is being provided to the locked motor.
- Voltmeter confirms that full power (12 V) is being provided to the locked motor.
- Either removing the Jaguar PWM cable, or "rebooting" the robot corrects the lock-up.
- Lock-up has been experienced with all wheels, although it appears to occur more frequently with some (wheels 1 & 4) than others (2 & 3).
- Anecdotally, lock-ups may be associated with aggressive steering maneuvers.
Nisso-Denko (Window) Motor, as-installed on DEWBOT VI
- DB6 Nisso sequence 100526 csm 03.jpg
Motor with motor-side coupling removed (the motor-side coupling need not be removed from the motor)
- DB6 Nisso sequence 100526 csm 05.jpg
Motor-side coupling (need not be removed)
- DB6 Nisso sequence 100526 csm 06.jpg
Gearbox showing gearbox-side coupling and retaining clip