AndyMark AM14U4 - User Manual

User Guide
AM14U4 Chassis Base Kit for the
FIRST® Robotics Competition
November 2019

Summary

AM14 U4 Recommended Hand Tool List

AM14 U4 System Overview

Gearbox Overview

Details the Toughbox Mini Gearbox, its components, and compatibility with CIM motors and encoders.

Gear Ratio Specifications

Lists gear ratios, components, and estimated speeds for the AM14U4 system using Toughbox Mini gearboxes.

Power Train and Wheel Configuration

Wheel Overview

Details the included 6" 80A HiGrip wheels and other available wheel options for the drive system.

Frame Diagram and Cut Lines

Long Chassis Configuration

Illustrates frame diagrams and cut lines for configuring the AM14U4 chassis into a long layout.

Square Chassis Configuration

Illustrates frame diagrams and cut lines for configuring the AM14U4 chassis into a square layout.

Wide Chassis Configuration

Illustrates frame diagrams and cut lines for configuring the AM14U4 chassis into a wide layout.

Wheel and Pulley Assembly

Outer Wheels Assembly

Step-by-step instructions for assembling the pulley system on the outer wheels of the AM14U4 chassis.

Center Wheels Assembly

Step-by-step instructions for assembling the pulley system on the center wheels of the AM14U4 chassis.

Toughbox Mini Gearbox Assembly

Chassis Frame Assembly

Chassis Frame Construction

Instructions for connecting end plates and inner plates to form the chassis base structure.

Toughbox Mini Mounting

Steps for attaching the Toughbox Mini gearboxes to the assembled chassis frame.

CIM Motor and Gear Integration

Instructions for mounting CIM motors, gears, and selecting appropriate drive belts.

Outside Plate and Churro Standoff Installation

Securing outside plates and installing support standoffs for chassis rigidity and belt path.

Wheel and Axle Configuration

Diagram for axle bolt locations and installing axle spacers for proper wheel alignment.

Final Wheel Assembly and Securing

Steps for installing remaining wheels, securing axle bolts, and completing the chassis assembly.

Overview

1. Important Technical Specifications
2. Gearbox Overview
3. Power Train Specifications
4. Wheel Overview
5. Usage Features
6. Maintenance Features
7. Bill of Materials (Key Components)

The AM14U4 Chassis Base Kit is a fully customizable drive platform designed by AndyMark engineers for the FIRST® Robotics Competition. This kit provides a 6-Wheel Drive (6WD) AM14U4 configuration engineered to withstand the rigors of competitive robotics. It includes standard AndyMark products and is designed to be compatible with other AndyMark products, offering various ways to utilize its components. Users can follow step-by-step instructions to quickly build the standard drive chassis, take advantage of built-in features to convert to other pre-engineered drive solutions, or redesign the parts in a new way.

Important Technical Specifications:

Gearbox Overview:

Each AM14U4 Chassis Base Kit includes two (2) unassembled AndyMark Toughbox Mini Gearboxes (am-2598_K19). Each Toughbox Mini contains the necessary parts to mount two 2.5" CIM motors (am-0255) and features holes for optional encoders, such as the USDigital E4T Optical Encoder (am-3132).

• Toughbox Mini Gearbox Specifications:

  • Gear Profile: 20 DP, 14.5° pressure angle
  • Gear Material: Cold-formed 4140 Steel
  • Output Shaft: 1/2" Hex, 4140 Steel
  • Housing Material: Nylon 6/6 with long fiber reinforcements

• Optional Gearbox Configurations:

  • EVO Shifter 2-Speed
  • EVO Slim Single Speed
  • Toughbox Micro (for use with Mecanum wheels)

• Gear Ratio Specifications (Toughbox Mini): To change the drive speed, different gear ratios can be used by replacing the standard 16-tooth Small Cluster Gear and 48-tooth Large Output Gear with two gears totaling 64 teeth. The higher the ratio results in a slower output speed.

  • 5.95:1: 14T (am-0034) 8mm Gear, 50T (am-0149) Lg. Cluster, 24T (am-0177) Sm. Cluster, 40T (am-0178) Lg. Output. Estimated AM14U4 Speed: 18.0 ft/sec.
  • 7.31:1: 14T (am-0034) 8mm Gear, 50T (am-0149) Lg. Cluster, 21T (am-2564) Sm. Cluster, 43T (am-2565) Lg. Output. Estimated AM14U4 Speed: 14.7 ft/sec.
  • 8.45:1: 14T (am-0034) 8mm Gear, 50T (am-0149) Lg. Cluster, 19T (am-0176) Sm. Cluster, 45T (am-0179) Lg. Output. Estimated AM14U4 Speed: 12.7 ft/sec.
  • 10.71:1 (included): 14T (am-0034) 8mm Gear, 50T (am-0149) Lg. Cluster, 16T (am-0747) Sm. Cluster, 48T (am-0885) Lg. Output. Estimated AM14U4 Speed: 10.0 ft/sec.
  • 12.75:1: 14T (am-0034) 8mm Gear, 50T (am-0149) Lg. Cluster, 14T (am-0151) Sm. Cluster, 50T (am-0150) Lg. Output. Estimated AM14U4 Speed: 8.4 ft/sec. (AM14U4 speed estimation is based on calculations using 6" wheels, and one CIM motor per TB Mini running at 4100 rpm, or 75% of free speed.)

Power Train Specifications:

The kit includes Gates HTD belts and parts for a 6" 6-wheel drive chassis with a direct drive center wheel in three recommended frame sizes. Other belt sizes are available on AndyMark.com or through Gates.

• Included Belts for Recommended Sizes:

  • 120 Tooth Gates Belt (am-2704) for Wide Chassis - 6" Wheel
  • 131 Tooth Gates Belt (am-2571) for Square Chassis - 6" Wheel
  • 160 Tooth Gates Belt (am-2266) for Long Chassis - 6" Wheel

• Alternative Drive Configurations: The AM14U4 parts can also be used to build Sprocket & Chain, Direct Drive Mecanum Wheels, and 8WD configurations by swapping out some parts.

Wheel Overview:

The Drive Base Kit includes 6" 80A HiGrip Wheels (am-0940b). These wheels are made of high-strength polycarbonate with an 80A urethane tread, designed for long-lasting grip.

• Included Wheels: 6" HiGrip Wheels (am-0940b)
• Optional Wheels: DuraOmni Wheels (am-3154), Performance Wheels (am-0095b), SmoothGrip Wheels (am-0144a), and many other 4", 6", and 8" options.

Usage Features:

• Customizable Platform: The AM14U4 system is designed for high customizability, allowing teams to adapt it to specific game challenges.
• Multiple Frame Configurations: The chassis pieces can be measured and cut to size to create various configurations (Long, Square, Wide) to comply with robot perimeter rules. Belts for these recommended configurations are included.
• Easy Assembly: The user guide provides step-by-step instructions for assembling the chassis, including detailed diagrams for each stage.
• Tool List Provided: A recommended hand tool list is provided, including common tools like a hammer, cordless drill/driver, magnetic nut setters, sockets, hex bit driver, ratchet, and open-end wrench.
• Online Resources: Additional instructions, assembly tips, instructional videos, layout prints, and CAD files are available on AndyMark.com/FRCVideos and AndyMark.com/KOP.
• Support: Customers can contact AndyMark via email (support@andymark.com) or toll-free phone (877-868-4770) for product information and questions.

Maintenance Features:

• Bearing Installation: Instructions include pressing bearings into the chassis plates and gearboxes, ensuring proper seating and alignment for smooth operation.
• Gear Lubrication: Red Tacky Grease (am-2768) is applied to all gear teeth during gearbox assembly to ensure smooth operation and reduce wear.
• Screw Tightening Guidelines: Specific instructions are provided for tightening screws in a star pattern for pulley alignment and caution against overtightening gearbox screws to ensure gears spin freely.
• Axle Bolt Installation: Axle bolts must be installed from the outside of the chassis to ensure compatibility with bumper hardware.
• Churro Standoffs: Churro standoffs are intended to help with the structure of the chassis and should be installed on each inner plate for stability.
• Belt Alignment: Instructions emphasize ensuring belts are straight and parallel to the side plates for optimal performance.

Bill of Materials (Key Components):

• Wheel and Belt Assembly:

  • 6" HiGrip Wheel (am-0940b) - QTY 6
  • 500EX Hex Hub (am-2568) - QTY 2
  • Gates HTD 15mm wide, 160 Tooth Belt (am-2266) - QTY 4 (for Long Chassis)
  • Gates HTD 15mm wide, 120 Tooth Belt (am-2704) - QTY 4 (for Wide Chassis)
  • Gates HTD 15mm wide, 131 Tooth Belt (am-2571) - QTY 4 (for Square Chassis)
  • Pulley Half, 42 Tooth (am-2234-half) - QTY 16
  • 10-24 x 1.25" Thread Forming Screws (am-1266) - QTY 48
  • 1614ZZ Bearing (am-0209) - QTY 8
  • FR8ZZ - HexHD Bearing (am-2986) - QTY 2

• Toughbox Mini Assembly (per gearbox, build two):

  • TB Mini Housing (am-0650) - QTY 1
  • TB Mini Hex Output Shaft with Steel Dowel (am-2566a_K19) - QTY 1
  • TB Mini Small Hex Shaft (am-0152) - QTY 1
  • 50 Tooth, 3/8" Hex Gear (am-0149) - QTY 1
  • 14 Tooth, 8mm CIM Gear (am-0034) - QTY 2
  • 16 Tooth, 3/8" Hex Gear (am-0747) - QTY 1
  • 48 Tooth, 1/2" Hex Gear (am-0885) - QTY 1
  • R6ZZ Bearing (am-0516) - QTY 2
  • FR6ZZ Bearing (am-0028) - QTY 1
  • FR8ZZ HexHD Bearing (am-2986) - QTY 1
  • Red Tacky Grease Pack (am-2768) - QTY 1
  • 2x2x10mm Machine Key (am-1121) - QTY 2
  • 5/16" Washer (am-1009) - QTY 4
  • 8mm Retaining Clip (am-0033) - QTY 2
  • 10-32 x 0.625" SHCS with Nylon Thread Lock Patch (am-1120) - QTY 4
  • 10-32 x 0.75" SHCS (am-1047) - QTY 4
  • 10-32 Nylock Nut (am-1042) - QTY 4
  • 1/2" E-Clip Ring (am-0206) - QTY 1

• Chassis Frame:

  • AM14U4 End Plate (am-3920) - QTY 2
  • AM14U4 Outer Plate (am-3921) - QTY 2
  • AM14U4 Inner Plate (am-3922) - QTY 2
  • 500 Churro, 24.25" (am-2974) - QTY 2
  • 1/4-20 x 0.75" Thread Rolling Screw (am-1310) - QTY 28
  • 3/8-16 x 4.25" HHS Bolt (am-1297) - QTY 4
  • 3/8-16 Nylock Nut (am-1054) - QTY 4
  • 0.570" Hex Spacer (am-1305) - QTY 2
  • Plastic Spacer 0.280" (am-1306) - QTY 4
  • Plastic Spacer 0.850" (am-1307) - QTY 4
  • 10-32 x 0.5" SHCS (am-1002) - QTY 24
  • 10-32 Nylock Nut (am-1042) - QTY 24
  • 500 Churro, 3.375" (am-2569) - QTY 8

AndyMark AM14U4 Specifications

General

Brand	AndyMark
Model	AM14U4
Category	Chassis
Language	English