ME14 Transmission - Fabrication

Overview:

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Our transmission design calls for 36 machined parts, generally held to 2 thou tolerances, with the majority being either rotary table or lathe parts. We were generally able to machine exactly to spec. However, in a few cases we had to modify the design slightly to accommodate issues with tooling or available stock. 

Note: In the interests of completeness I have included a summary of how we fabricated each part in the transmission. However, I spent the vast majority of my time working on our rotary table parts and as a result those are described in much greater detail. 

General Reflections: 

  • By far the biggest lesson I learned from this project is that there is a very large per-part learning curve. Even completing operations I had done the same day the time to re-cut a part was generally about 1/2 to 1/3 the time to cut it the first time around.

  • reamers and boring bars should be checked for wear before use. One of the big issues we had throughout the project was discovering that many of the shop reamers cut substantially oversize. Testing beforehand would have caught this and eliminated some re-work.

The inner face of an outer alignment plate. Note the transfer shaft pocket and 6 tapped holes.

The inner face of an outer alignment plate. Note the transfer shaft pocket and 6 tapped holes.

Alignment Plates: 

The alignment plates hold our gear shafts in alignment, and are our most complicated rotary table parts. All three plates are largely identical. However, there are some substantial differences in terms of mounting hardware and shaft fits (see below). 

Since this part is internal, we decided to go with a finishing wheel polish. We had originally used a sand blasted finish, but found it to delicate for internal parts.

Before starting machining of any kind we first set up the rotary table. The table itself, chuck plate, and chuck all had to be centered to +0.5 - 0.5 thou. Fortunatly, we were able to keep the fixture set up throughout the project.

Before starting machining of any kind we first set up the rotary table. The table itself, chuck plate, and chuck all had to be centered to +0.5 - 0.5 thou. Fortunatly, we were able to keep the fixture set up throughout the project.

For the most part the alignment plates were machined according to plan. However, we did open up the center plate's alignment holes to a clearance fit in order to ease assembly. 

Notable Features: 

  • Groove for a -145 compression fit o-ring.

  • Slip fit holes for the alignment shafts.

  • Press fit holes for the IO shaft bearings.

  • Press fit pockets for the transfer shaft bearings (ends).

  • Clearance hole for small transfer shaft gear (center).

  • 1/4 - 20 countersunk holes for tension screws (ends).

  • 1/4 - 20 tapped holes for tension screws (center).

  • 4-40 tapped holes for end plate screws (ends).

Machining Process: 

These parts were machined in two parts. First, the rough shape was marked, sawed, and ground out of sheet scrap. The rough center of each piece was then drilled and reamed to accept a 1/2" arbor. This allowed us to turn the parts to their final dimensions and add the o-ring groove. Once the part was at it's final dimensions, we moved it to the rotary table. We then machined all of the various holes, threads, and pockets on the mill. For the end plates one of the alignment holes was used as a reference to ensure consistent angular dimensioning between sides. 

We had a huge amount of trouble with the shop reamers for this project. In particular, we found that most of both the 5/8 and 1/4 shop reamers run several thou large. For the reamed 1/4" holes we used a 1/4" nominal reamer and sanded the holes to size. The damaged 5/8 reamer was only used for one hole, and in that case we press-fit a plug in place, and re-drilled/reamed the hole using sharper tooling. 

That time we needed a smaller hole so we pressed a plug in place and re-drilled it. (Worked fine, would do again). 

Outer Casing: 

The outer casing was machined from a piece of 3.5in aluminum tubing with 3/8in walls. The ID and OD were then turned to ensure they were concentric, and the ID was taken down to comply with the requirements for a -145 compression fit. Once the housing stock had been fabricated six 4-40 holes were trilled and tapped in each side of the part using the rotary table. To ensure good alignment the entire inner module was assembled along with both end plates, and the second set of holes were located using a center punch (with the rotary table to enforce circle diameter and angular spacing). 

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End Caps: 

The endcaps serve two purposes, they protect the internals from contamination, and they prevent the inner transmission assembly from spinning relative to the casing. Fundamentally though they are mostly an aesthetic component. Each blank was first roughed to size on the bandsaw and then turned to size on the lathe. The socket head pockets and bearing relief were then cut and the parts were polished to a mirror polish. 

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Alignment Rods:

The alignment rods stretch from one end-plate to the other suspending the central alignment plate between them. The rods are made of O1 tool steel, and were machined to length on a lathe and then sanded slightly to a firm slip fit. 

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Spacers:

The spacers hold the axial spacing of the plates. They are composed of 5/8in aluminum and were cut on the lathe in two groups, both internally consistent to about 0.5thou. The ID was taken up to 9/64ths in-order to ease assembly. 

IO and Transfer Shafts: 

The IO and transfer shafts were cut out of 0-1 tool steel, and were designed to fit snugly between their constraining plates. The retention clip grooves were cut with an appropriate carbide groove cutter, and the overall length was turned on a lathe. Small flats for each set screw were cut using a collet block and machinists jack on a vertical mill. We found that the use of a sharp (new) endmil was non-optional for cuttiong O-1 with good tolerances. 

Base Plate: 

The base plate was fabricated out of the same 7/16in stock as the base plate clamps. It was squared and then the holes were drilled. The dimensions for this part were largely constrained by the size of our clamp stock, and the hole pattern specified by the test apparatus. Once fabricated, all of the base and clamp components were sand blasted. 

Base Plate Clamps:

The base plate clamps were one of the most fun parts to create. First the shape was sketched on scrap with a compass. Then, they were clamped to a rotary table and the curved sides (OD and ID) were cut. We had originally planned to use superglue for that process, but after speaking with the shop foreman decided to use two different clamping setups instead. 

Once the outer profile had been milled, we clamped the parts in one of our Bridgeport clones, and used the rotating head to cut the two angled pockets. After a bit of debate, we ended up using three setups per part with a work stop, rather than moving the head for each part. That worked well, and I would use that approach again. 

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Clamp Riders. 

The clamp riders were cut with a pair of bolt cutters and then sanded/hammered to length. This worked well enough, but if I were to do the project again I would try to hold both the hole depths and the clamp rider lengths to tighter tolerances. 

 

ME14 Transmission - Design

What is this? 

The ME14 Transmission project is the first design and fabrication project in the caltech Mechanical Engineering curiculum. The idea is to work in teams of three to design and fabricate the best fixed ratio transmission possible.

Once built, the transmissions are tested using a known motor and load.  The test apparatus tracks a number of parameters, but the two critical values are "Seconds to reach 250RPM" and "Maximum speed reached in 250 seconds". The latter divided by the former provides a final score for the competition in the form: 

Score = [Max Speed] / [Time to 250]

Team Goals:

Before starting our design process, we got together to talk about our priorities as a team. Based on that conversation, we came up with three guiding attributes (below) for our transmission design. We also decided that although we're very willing to work outside the box we don't have any interest in creating something groundbreaking for it's own sake. Design innovations should decrease fabrication time, improve reliability, or increase professionalism/polish.

Projected score as a function of gear ratio

Projected score as a function of gear ratio

  • Completely functional. 
  • Highly Reliable.
  • Built to a high standard of professionalism and polish. 
  • *NOT* groundbreaking for groundbreaking's sake. 

Gear Ratio: 

Estimated time to 250 RPM as a function of gear ratio

Estimated time to 250 RPM as a function of gear ratio

One of my big projects this first week was drawing up a comprehensive model of the transmission's motion systems. I first defined moments of inertia for all of the rotating components of the system, and then used standard values for spurr gears and angular contact bearings along with the drag model we were given for the test apparatus to determine the parasitic torque as a function of speed. That, along with the stall torque, operating voltage, and max speed of the motor let me predict the gearbox's performance across a range of different gear ratios. 

Within our allowed ratio range (5-7) I found that performance improved slightly for smaller values. However, difference in scores was small enough to be dominated by secondary factors like shaft alignment and bearing efficiency. With that in mind, we went ahead and selected a pair of high precision stainless steel gears from SDP. Our large gear has 52 teeth, and the smaller gear has 20 teeth. That gives us a stage ratio of 2.6 and an overall ratio of 6.76.

We expect a score of 8.04

 

An early draft of the central module using placeholder gears. The model is fully parametric, and shifts to accommodate different gear ratios. 

An early draft of the central module using placeholder gears. The model is fully parametric, and shifts to accommodate different gear ratios. 

General Structure: 

Traditionally ME14 transmissions are built as a series of vertical walls, screwed to a base-plate and connected with rods, or another plate, on top to provide rigidity. This structure has the benefit of being easy to CAD, and fairly straight forward to machine since all the components are rectangular. However, it also seems relatively weak, difficult to adequately align, and fairly inelegant in that it's really only applicable to this exact competition. 

The transmission casing and transmission stand. The number of screws was later reduced to 6 per circle in deference to our budget. 

The transmission casing and transmission stand. The number of screws was later reduced to 6 per circle in deference to our budget. 

I choose instead to design our transmission as a series of stacked circular plates, separated by spacers and aligned by 1/4" steel rod. The gear shafts are held between the rods, and the entire assembly is kept under tension by four 1/4-20 cap screws. This module then slots into a larger aluminum cylinder with end-caps to keep it isolated from dust and damage. Jack then designed stand to hold the cylindrical housing in place and interface with the test apparatus. 

If successful we will be the first team to substantially deviate from the standard design in the history of the course. My hope is that this structure will prove more rigid, more reliable, easier to assemble, and more compact than the traditional framework. It should be noted that this design will be substantially more difficult to machine. However, we decided it was better to spend time making things correctly once, rather than spending time aligning the components by hand. Since everyone involved has a fair amount of machining experience, we have the luxury of making that choice. 

Materials Selection: 

ME14 transmissions have historically been fabricated out of acrylic. Both because it is easy to use, and because it is provided by the shop. We decided to use aluminum. Working in metal means being able to hold much tighter tolerances, take heavier cuts (without worrying about chipping), and achieve a much higher level of overall polish. The one drawback to using aluminum for the main casing is that it means you cannot see into the transmission. Since our goal is polished, and strong, this is not an issue. 

For gears, we choose stainless steel. High carbon steel would have been preferred. However, there were none available from an allowed supplier in the size range we wanted. Using 316 stainless, we have a factor of safety of around 9.6, well more than sufficient. 

The drive shafts, alignment rods, and transfer shaft are all composed of O-1 tool steel. This was to accommodate our high-precision bearings, and because we wanted experience with the material. (4140 would have been a few cents cheaper and would likely have worked just as well). 

Shaft Retention and Damping: 

Our gear train and shaft retention system. Note that while all relevant components are included and accurately positioned the gear collar diameters are not true-size. 

Our gear train and shaft retention system. Note that while all relevant components are included and accurately positioned the gear collar diameters are not true-size. 

One of our big focuses for this design is minimizing vibration. With that in mind, we have decided to use o-ring spacers and retention clips to constrain each of the shafts axially. This lets us dampen any axial vibration we might get from shafts. It also allows us to easily and repeatably pre-load our bearings. This is important for ensuring the bearings wear in reliably, and is very important for the kind of high-precision bearings we have chosen. 

To provide additional vibration isolation, the alignment plates will be connected to the outer housing with press fit o-rings. The housing structure, with it's nylon riders should also help isolate the entire structure from the base of the test fixture (which tends to vibrate when the wheel runs). 

Oil Proofing: 

Early in our discussions, we debated making the transmission fully water-tight. That only requires slight modifications to the IO bearings, and the addition of some shaft seals. However, we decided it was inadvisable to pursue that kind of feature without more time for testing. Despite that, we have taken care to keep the design as close to water-tight as possible. 

Depending on the final transmission performance, we may take advantage of this to fill the inner housing unit entirely with oil. This would be a performance hit, but could also prove invaluable if we end up running in the transmission. If the transmission were ever to be used for serious torque transfer, oil filling would be required to protect the gears and wick away heat. It should be noted, that since we are using shielded rather than sealed bearings, we expect the unit to leak slowly. Fortunately, the rate of loss should be low enough to be inconsequential for out purposes.