AndyMark BT4MH4E Tile Runner Mecanum User Guide

BT4MH4E Tile Runner Meconium
User Guide

BT4MH4E Tile Runner Meconium

Popular Variants:
Tile Runner SD Mecanum (BT4MS4E)
Tile Runner HD Mecanum (BT4MH4E)

Additional Instructions Available

We encourage customers to seek product information at AndyMark.com, contact us via e-mail at [email protected], or call Toll-Free 877-868-4770 with questions about any of our products.
2019 Updates
9-1-19: Updated instructions to match the new 6-32 Hex Head hardware. M3 Neve Rest Mounting bolts are now 5mm long instead of 6mm. Added detail to help clarify build steps.
2020 Updates
10-19-20: Updated instructions for increased configurations
Tile Runner Recommended Hand Tool List (not included)

Component| Part Number| QTY|

Part Photo

---|---|---|---
3/32 in. Hex Driver| am-3173| 1|
5/32 in. Hex Driver| am-2751| 1|
2.5mm Allen Wrench| am-1288| 1|

5/16 in. Nut Driver| am-1273| 1|

1/4 in. Nut Driver| am-3677| 1|

3/8 in. Nut Driver| am-3877| 1|

1/4 in. – 5/16 in. Open End Wrench| am-3174| 2|

1/2 in. – 9/16 in. Open End Wrench| am-2746| 1|

3/8 in. – 7/16 in. Open End Wrench| am-2745| 1|

Tile Runner Frame Bill of Materials

Part Number| Component| Quantity|

Part Photo

---|---|---|---
am-3392_Inside| Chassis Inside Plate| 2|
**** am-3392_Outside| Chassis Outside Plate| 2|
am-3393| 4×4 Plate| 4|

am-3394| Belly Pan| 1|

am-3395| Peanut, 11.25″| 2|

am-3398| **** Churro, 11.25″| 2|

am-3399| Churro, 63mm| 8|
am-1443| Socket Head Cap Screw, M3-0.5 x 5mm| **** 24|

am-1310| Self-Tapping Screw, 1/4-20 x 0.75 in| 28|

am-1563| Hex Head Thread Patch, 6-32 x 0.5 in| 32|

am-1419| Nut, NY lock, 6-32| 32|

Tile Runner Common Drive Bill of Materials

am-1420| Button Head Cap Screw, 1/4-20 x 1.75 in| 8|

am-1563| Hex Head Thread Patch, 6-32 x 0.5 in| 32|

am-3215a| 6mm D Bore Double Boss Nub w/Set Screw| 8|

am-3226-100| 6mm D Shaft, 100mm, plated| 2|

am-3377| 6x12x4 Flanged Bearing| 14|

am-2768| Grease Packet| 1|

Tile Runner Mecanum Bill of Materials

am-3215a| 6mm D Bore Double Boss Nub w/Set Screw| 4|

am-3226-100| 6mm D Shaft, 100mm, plated| 4|

am-3424| Spacer, aluminum, 0.257 in ID x 5/16 in OD x 1/4 in long| 8|

Tile Runner Mecanum Wheel Options

am-3426| Spacer, aluminum, 12.7mm OD x 6.15mm ID x 9mm long| 8|
am-1437| 6-32 x 1.25” Hex Head Machine Screw| 16|

MH| am-3919L| 4 in HD Mecanum, Left| 2|

am-3919R| 4 in HD Mecanum, Right| 2|
am-3426| Spacer, aluminum, 12.7mm OD x 6.15mm ID x 9mm long| 4|

am-1499| 6-32 x 2” Hex Head Cap Screw| 16|

Tile Runner Mecanum Neve Rest Options

Code| Part Number| Component| Quantity|

Part Photo

---|---|---|---|---
6| am-3103b| Gearmotor, Neve Rest 60, with Encoder, and Female JST VH, 2-pin| 4|
am-2992| Hall Effect Encoder Cable with 4-pin Connector| 4|

am-3406| Pico Box Spacer| 16|

am-3426| Spacer, Aluminum, 0.242” id, 0.50”
od x 0.354” Long| 2|
am-3423| Pico Box Uno Plate| 4|

4| am-2964b| Gearmotor, Neve Rest 40, with Encoder, and Female JST VH, 2-pin| 4|
am-2992| Hall Effect Encoder Cable with 4-pin Connector| 4|

am-3406| Pico Box Spacer| 16|

am-3426| Spacer, Aluminum, 0.242” id, 0.50” od x 0.354” Long| 2|
am-3423| Pico Box Uno Plate| 4|

Tile Runner Mecanum Neve Rest Options

Code| Part Number| Component| Quantity|

Part Photo

---|---|---|---|---
2| am-3637b| Gearmotor, Neve Rest Orbital 20, with Encoder, and Female JST VH, 2- pin| 4|
am-2992| Hall Effect Encoder Cable with 4-pin Connector| 4|
am-3406| Pico Box Spacer| 16|

am-3426| Spacer, Aluminum, 0.242” id, 0.50” od x 0.354” Long| 2|

am-3475| Pico Box MEO Plate| 4|
P| am-3476| Pico Box GEO Plate| **** 2|
am-3405| PicoBox Duo Plate| 2|
am-3475| PicoBox MEO Plate| 4|
am-3423| PicoBox Uno Plate| 4|
am-3406| PicoBox Spacer| 16|

am-3426| Spacer, Aluminum, 0.242” id, 0.50” od x 0.354” Long| 8|

Tile Runner Mecanum Gear Options

Code| Part Number| Component| Quantity|

Part Photo

---|---|---|---|---
1| am-3407| 40 Tooth PicoBox Gear| 8|
A| am-3408| 35 Tooth Gear for PicoBox| **** 4|

am-3409| 45 Tooth Gear for PicoBox| 4|
E| am-3407| 40 Tooth PicoBox Gear| 8|
am-3408| 35 Tooth Gear for PicoBox| **** 4|

am-3409| 45 Tooth Gear for PicoBox| 4|

4 in. Standard Mecanum Wheel Bill of Materials

Part Number| Component| Quantity|

Part Photo

---|---|---|---
am-2540_half| 4 in Mecanum Wheel Body Half| 8|
am-2541| 4 in Mecanum Wheel Roller| 48|

am-2610| 4 in Mecanum Wheel Spindle| 24|

am-1328| Nylon Flat Washer, 0.115 in ID x 0.25 in OD x 0.062 in Thick| 48|

am-1317| Phillips Pan Head 4- 40 x 0.5 in Self- Tapping Screw| 48|

am-1247| Phillips Pan Head 4- 40 x 1.0 in Self- Tapping Screw| 24|

Standard Mecanum Wheel Assembly Instructions

NOTE: The following assembly instructions only apply if you have selected the Standard Mecanum wheel (MS) option.

Step 1: Place the Roller (am-2541) onto the arm of the Spindle (am-2610), add a 0.25” Nylon Washer (am-1328) and secure with 4-40 x 0.5 in Pan Head Phillips Thread Forming Screw (am1317). NOTE: Be sure to tighten the screw until the roller can no longer wiggle along the axle but rolls freely
Step 2: With the assembled spindles, place into slots on one 4” Mecanum Wheel Body Half (am2540_half).

Step 3: Take another 4” Mecanum Wheel Body Half (am-2540_half) and press it into the bases of the spindles. The large clearance holes will line up with the smaller holes. Step 4: Secure the two Wheel Body halves together with three 4-40 x 1 in Pan Head Phillips Thread Forming Screws (am-1247). Step 5: Flip the wheel over and secure with three more 4-40 x 1 in Pan Head Phillips Thread Forming Screws (am-1247). Step 6 : Assemble 3 more Mecanum Wheels. One should be the same and two should be opposite to create two right and two left handed wheels. When looking at the robot from the top, the top most rollers should form an “X”.

PicoBox Gear Assembly Instructions

NOTE: The following assembly instructions depict the 40 Tooth PicoBox Gear (am-3407) but also apply to the 35 Tooth Gear (am-3408) and/or the 45 Tooth Gear (am-3409) if you have selected to utilize the alternate gearset.
Step 1: Place a 6mm D-Bore Double Boss Nub (am-3215a) into the center bore of a PicoBox Gear and align the bolt circles of the Nub and the Gear. Step 2: Flip the gear over and secure the Nub to the gear by threading four 6-32 x 0.5 in Hex Head Screws (am-1563) into the Nub. Andy Mark suggests starting with a ¼” Nut Driver and finishing with a ¼” open wrench. Use Vice Grips,  Pliers, or Channel Locks to hold the nub while tightening the screws.

Step 3: Ensure that a #10-32 Set Screw is partially threaded into the Nub.

NOTE: If utilizing the 1:1 gear ratio using 40 Tooth gears, follow the above instructions a total of 8 times. If utilizing the alternate gearset for a 1.28:1 ratio, or a 1:0.78 ratio, affix nubs to all four 35 Tooth Gears and four 45 Tooth Gears.
Repeat steps 1-3 to make 8 total PicoBox Gear Assemblies.

PicoBox Uno Assembly Instructions

Step 1: Press a 6x12x4 Flanged Bearing (am3377) into the center 12mm hole of a PicoBox Uno gearbox plate (am-3423) or PicoBox MEO Gearbox Plate (am-3475). NOTE: Use the Uno plate if using Neve Rest Classic gearmotors and use the MEO plate if using Neve Rest Orbital gearmotors.

NOTE: Make sure the flange of the bearing is on the same side of the plate as the flanges, and is flush against the sheet metal of the gearbox plate.

Step 2: Insert a Neve Rest motor into the remaining 12mm hole of the PicoBox Uno gearbox plate or the 22mm holes of the PicoBox MEO plate, opposite of the flanges on the gearbox, and line up the threaded holes on the end of the  motor with the bolt-circle holes of the gearbox plate.

Step 3 : Install six M3-0.5 x 5mm long socket head screws (am-1443) to secure the Neve Rest motor to the gearbox plate. Note: Only four screws are used per motor if using Neve Rest Orbital gearmotors.

Step 4: Install the 6mm D-Shaft (am-3226-100) into the bearing such that the end of the shaft is flush with the end of the bearing.  Step 5: Install the 9mm long Aluminum Spacer (am-3426) on the axle up against the previously installed bearing.

Step 6: Install one Gear Assembly onto the axle of the gearbox. Be sure to place the boss of the Gear against the spacer. Tighten the #10-32 set screw to lock the Gear Assembly in place. Note: If using the 1.28:1 ratio, use the 35T gear here;  if using the 1:0.78 ratio, use the 45T gear here. Step 7: Install a Gear Assembly onto the Neve Rest Motor shaft such that is lined up with the Gear Assembly installed on the axle. Tighten the #10-32 set screw to lock the Gear Assembly in place. Note: If using the 1.28:1 ratio, use the 45T gear here; if using the 1:0.78 ratio, use the 35T gear here.

Step 8: Repeat 3 more times to make 4 total PicoBox Gearboxes for the drive train.

Tile Runner Mecanum Chassis Assembly Instructions

Step 1: Press two 6x12x4 Flanged Bearings (am-3377) into the outermost 12mm holes of the Tile Runner Inside Plate (am-3392_Inside). Make sure the flanges of the bearings are flush against the side of the plate with two flanges

Step 2 : Insert eight 1/4-20 x 1.75″ Button Head Screws (am-1420) into the Inside Plate at the indicated locations. Make sure the head of the screws are on the side of the Inside Plate with a single solid flange.

Step 3 : Place a PicoBox Spacer (am-3406) over each of the 1/4-20 screws on the side of the Inside Plate with two flanges.

Step 4: Insert the Axles of two Gearbox Assemblies into the bearings on the Tile Runner Inside Plate. Align the 1/4-20 screws with the ¼ in holes on each of the PicoBox Plates, and push the assemblies together.

Step 5: : Secure the Gearbox Assemblies with 1/4-20 NY lock Jam Nuts (am-1102).

Step 6: Repeat Steps 1-5 to create two completed Inside Plate Assemblies. Step 7: Attach four 63mm Churro (am-3399) to one of the Inside Plates using 1/4-20 x 0.75 in Self Tapping Screws (am-1310). Note: Do not fully tighten these screws yet!

Step 8 : Attach one 11.25” Peanut (am-3395) to one of the Inside Plates on the same side of the plate as the PicoBox using two 1/4-20 x 0.75 in Self Tapping Screws (am-1310). Note: Do not fully tighten these screws yet!

Step 9 : Attach one 11.25” Churro Extrusion (am-3398) to the same Inside Plate on the same side of the plate as the PicoBox using one 1/4-20 x 0.75 in Self Tapping Screw (am-1310). Note: Do not fully tighten this screw yet!

Step 10 : Repeat steps 1-9 on the other Inside Plate Assembly. These should be identical, so that they can be rotated into their final orientation on the robot. Step 11: Join the two assemblies together with six 1/4-20 x 0.75 in Self Tapping Screws (am1310). Note: Do not fully tighten these screws yet!

Step 12: Attach two 4×4 Plates (am-3393) to each Inside Plate using two 6-32 x 0.5″ Hex Head Screws (am-1436) and two 6-32 NY lock Nuts (am-1419) on each 4×4 plate.  Step 13: On each of the four wheels, secure a 6mm D Bore Double Boss Nub (am-3215a) with four 632 x 2.0 in Hex Head Cap Screws (am-1499) if using the HD Mecanum Wheels or four 6-32 x 1.25in Hex Head Cap Screws (am-1437) if using the SD Mecanum Wheels. Step 14: Note: Skip this step if using the HD Mecanum Wheels. Install a 9mm long aluminum spacer (am-3426) onto each of the four 6mm Gearbox axles.

Step 15: Note: When viewed from above, the rollers on the wheels should form an “X”. Slide a wheel onto each of the 6mm gearbox axles so that the nub is flush against the bearing or spacer. Tighten the set screw in the Nub. Step 16: If using the HD Mecanum Wheels, Install two 0.25 in long aluminum spacers (am3424) on to each of the 6mm axles on the outside of the Mecanum Wheel. If using the SD Mecanum Wheels, install one 0.594 in long aluminum spacer (am-1290) on the axle.

Step 17: Press two 6x12x4 Flanged Bearings (am-3377) into the outermost 12mm holes of the Tile Runner Outside Plate (am-3392_Outside). Make sure the flanges of the bearings are flush against the side of the plate with a single solid
flange. Repeat for a total of two Outside Plates.

Step 18: Slide the 6mm gearbox axles into the bearings installed in the Outside Plates and make sure the flanges of the Outside Plates point towards the inside of the chassis.

Step 19: Secure the Outside Plates to the chassis by threading four 1/4-20 x 0.75 in Self Tapping Screws (am-1310) on both sides into the four 63mm Churro Extrusions installed in Step 7. Note: Do not fully tighten these screws yet!

Step 20: Finish securing the 4×4 Brackets to the top of the drive modules. Use two additional 632 x 0.5 in Hex Head Screws (am-1436) and  632 NY lock Nuts (am-1419) at each plate.

Step 21: Bolt the Belly Pan (am-3394) to the Inside Plates of the chassis using 6-32 x 0.5 in Hex Head Screws (am-1436) and 6-32 NY lock Nuts (am-1419).

NOTE: These can be placed anywhere along the module to help add strength and provide mounting options for additional systems
Step 22: Fully tighten all screws that were previously left loose.

https://manual-hub.com/

References

• Educational Robotic Parts - AndyMark, Inc
• Manual-Hub.com – Free PDF manuals!

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