By: FourPenguins
New: 01-01-2007 02:42 PM
Updated: 01-01-2007 06:55 PM
Views: 1496 times

Original picture here:
http://www.chiefdelphi.com/media/photos/26107?
A planetary gearbox enclosed within a wheel. The wheel mounts to a frame member by the mount plate (yellow), which also holds the planets in place. The wheel ring gear is screwed (green) to two circular aluminum plates (pink), which serve two purposes. They hold the wheel surface and tread (not shown) and also take the stress of the weight of the robot.
The weight of the robot is transferred from these plates to six bearings (red) on the planet shafts. The planet shafts then transfer the weight to the mounting plates, which transfer it to the robot frame.
Everything on the shafts would be held with snap rings and would be keyed where necessary.
Weight: (in Inventor) 1.9lb

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