AndyMark AM14U4 User manual

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

2
AndyMark – Your Robot Parts Experts
AndyMark, Inc. was founded in 2004 by Andy Baker and Mark Koors to design and sell unique mechanical parts for
competition and educational robotics. Through their volunteer work at FIRST® Robotics Competition events they
identified a niche market and began designing and selling robotics components for FIRST ® teams. At that time, many
designs were being shared and re-created, but finding the correct fabrication resources for these parts was difficult for
some FRC teams. AndyMark has been a proud supplier to the FIRST® Robotics Competition since 2005.
AndyMark's staff has over 200 years of FIRST team experience, and provides staffing services to many robot
competition events throughout the year. Our Kokomo, Indiana home provides a central location for quick distribution
across North America, as well as international shipping to over 70 countries.
Additional Instructions Available
We encourage customers to seek product information at AndyMark.com, contact us via e-mail at
[e-mail], or call Toll-Free 877-868-4770 with questions about any of our products.
Detailed assembly tips and instructional videos can be found at AndyMark.com/FRCVideos.Additional resources,
layout prints, and CAD are available on the AndyMark.com/KOP web page.
AM14U4 Recommended Hand Tool List (not included)
Component
Part Number
QTY
Part Photo
Hammer
Available at your
local hardware store.
1
Cordless Drill or Driver
Available at your
local hardware store.
1
3/8" Magnetic Nut Setter
am-2755
1
5/16" Magnetic Nut Setter
am-2754
1
9/16" Socket, 3/8" Drive
am-2743
1
3/8" Socket, 3/8" Drive
am-2740
1
5/32" Ball End Hex Bit Driver
am-2748
1
3/8" Drive Quick Release Ratchet
am-2753
1
1/2" - 9/16" Open-End Wrench
am-2746
1

3
AM14U4 System Overview
The AM14U4 system designed by AndyMark engineers is a fully customizable drive platform for the FIRST® Robotics
Competition. The Kit of Parts Drive Chassis is a 6-Wheel Drive (6WD) AM14U4 configuration engineered to withstand
the rigors of this year’s game challenge. The AM14U4 Drive Chassis Kit includes standard AndyMark products and is
designed to be compatible with other AndyMark products. There are many ways to use the parts included in this kit.
•Utilize these step by step instructions to quickly build the standard drive chassis.
•Take advantage of convenient built-in features to convert to another pre-engineered drive solution.
•Take the existing parts and pieces included and re-design them in a new way
Gearbox Overview
Each AM14U4 Chassis Base Kit includes two (2) AndyMark Toughbox Mini Gearboxes, unassembled (am-2598_K19).
Each Toughbox Mini includes the parts needed to mount two 2.5” CIM motors (am-0255). The gearbox also includes
holes for optional encoders such as the USDigital E4T Optical Encoder (am-3132).
]
Gear Ratio Specifications:
To change the drive speed of the AM14U4, different gear ratios can be used in the Toughbox Mini. To change the ratio
and drive speed, the standard 16 tooth Small Cluster Gear and 48 tooth Large Output Gear will need to be replaced
with two gears totaling 64 teeth. The higher the ratio, the slower the output speed.
More information about these optional gears can be found at "AndyMark.com/TBmini".
**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.
Ratio
8mm Gear
Lg. Cluster
Sm. Cluster
Lg. Output
AM14U4 Speed**
5.95:1
14T
(am-0034)
50T
(am-0149)
24T
(am-0177)
40T
(am-0178)
18.0 ft/sec
7.31:1
14T
(am-0034)
50T
(am-0149)
21T
(am-2564)
43T
(am-2565)
14.7 ft/sec
8.45:1
14T
(am-0034)
50T
(am-0149)
19T
(am-0176)
45T
(am-0179)
12.7 ft/sec
10.71:1
(included)
14T
(am-0034)
50T
(am-0149)
16T
(am-0747)
48T
(am-0885)
10.0 ft/sec
12.75:1
14T
(am-0034)
50T
(am-0149)
14T
(am-0151)
50T
(am-0150)
8.4 ft/sec
Toughbox Mini Gearbox
∙ 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
INCLUDED
EVO Shifter 2-Speed
OPTIONAL
EVO Slim Single Speed
Toughbox Micro
For use with Mecanum

4
Power Train Specifications
The AM14U4 Kit of Parts Chassis Base Kit includes Gates HTD belts and the parts needed to build 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 to allow for many more configurations.
Additionally, the AM14U4 parts can be used in other popular drive configurations as well. Sprocket & Chain, Direct
Drive Mecanum Wheels, and 8WD can all be built by using the frame in this kit and swapping out some of the parts.
For details on how to change your drive system visit AndyMark.com/AM14u4
Wheel Overview
Included in the Drive Base Kit are 6” 80A HiGrip Wheels. These wheels are made of high-strength polycarbonate with
an 80A urethane tread. These wheels provide long-lasting grip throughout the competition season. Many other
wheels can be used as an alternative with minor adjustments to the plate spacing and layout.
6” HiGrip Wheels
am-0940b
INCLUDED INCLUDED
120, 131, and 160 Tooth Gates Belts for 3 recommended sizes
OPTIONAL
Mecanum Drive
8-Wheel Drive
OPTIONAL
DuraOmni Wheels
am-3154
Performance Wheels
am-0095b
SmoothGrip Wheels
am-0144a
Plus many other 4”,
6”, and 8” options.
For full information
please visit
AndyMark.com

5
Wheel and Belt Assembly Bill of Materials
Component
Part Number
Quantity
Part Photo
6" HiGrip Wheel
am-0940b
6
500EX Hex Hub
am-2568
2
Gates HTD 15mm wide,
160 Tooth Belt for Long
Chassis
am-2266
4
Gates HTD 15mm wide,
120 Tooth Belt for Wide
Chassis
am-2704
4
Gates HTD 15mm wide,
131 Tooth Belt for Square
Chassis
am-2571
4
Pulley Half, 42 Tooth
am-2234-half
16
Wheel Screw Kit –(am-14U4_CK7)
10-24 x 1.25” Thread
Forming Screws
am-1266
48
Bearing Kit –(am-14U4_CK8)
1614ZZ Bearing
am-0209
8
FR8ZZ - HexHD Bearing
am-2986
2

6
Toughbox Mini Bill of Materials – Build two per Chassis
Component
Part Number
Quantity
Part Photo
TB Mini Housing
am-0650
1
TB Mini Hex Output Shaft
with Steel Dowel
am-2566a_K19
1
TB Mini Small Hex Shaft
am-0152
1
TB Mini Kit 1– am-14U4_TM1
50 Tooth, 3/8” Hex Gear
am-0149
1
14 Tooth, 8mm CIM Gear
am-0034
2
16 Tooth, 3/8” Hex Gear
am-0747
1
48 Tooth, 1/2” Hex Gear
am-0885
1
TB Mini Kit 2 – am-14U4_TM2
R6ZZ Bearing
am-0516
2
FR6ZZ Bearing
am-0028
1
FR8ZZ HexHD Bearing
am-2986
1
Red Tacky Grease Pack
am-2768
1
TB Mini Kit 3 –am-14U4_TM3
2x2x10mm Machine Key
am-1121
2
5/16" Washer
am-1009
4
8mm Retaining Clip
am-0033
2

7
10-32 x 0.625” SHCS with
Nylon Thread Lock Patch
am-1120
4
10-32 x 0.75” SHCS
am-1047
4
10-32 Nylock Nut
am-1042
4
1/2" E-Clip Ring
am-0206
1
AM14U4 Chassis Frame Bill of Materials
Component
Part Number
QTY
Part Photo
AM14U4 End Plate
am-3920
2
AM14U4 Outer Plate
am-3921
2
AM14U4 Inner Plate
am-3922
2
500 Churro, 24.25"
am-2974
2
AM14U4 – Churro Screw Kit – AM14U4_CK1
1/4-20 x 0.75” Thread
Rolling Screw
am-1310
28
AM14U4 – Axle Kit – AM14U4_CK2
3/8-16 x 4.25” HHS Bolt
am-1297
4
3/8-16 Nylock Nut
am-1054
4
AM14U4 – Spacer Kit – AM14U4_CK3
0.570" Hex Spacer
am-1305
2
Plastic Spacer 0.280"
am-1306
4
Plastic Spacer 0.850"
am-1307
4
AM14U4 – Frame Hardware Kit – AM14U4_CK4
10-32 x 0.5” SHCS
am-1002
24
10-32 Nylock Nut
am-1042
24
AM14U4 Churro Kit – am-14U4_CK5
500 Churro, 3.375"
am-2569
8

8
Frame Diagrams & Cut Lines:
The AM14U4 is designed for multiple configurations. Chassis pieces should be measured and cut down to size; some
possible configurations are shown below. Ensure that your final frame size complies with all current rules. Belts for
recommended LONG, SQUARE and WIDE configurations are included in the full AM14U4 Kit.

9
6” HiGrip Wheel and Pulley Assembly Instructions
Outer Wheels (QTY 4)
Step 3: Press two 1614ZZ bearings
(am-0209) into each side of the
wheel/pulley.
4X
Center Wheels (QTY 2)
Step 2:Using six 10-24 x 1.25” (am-1266) thread
forming screws attach the pulley halves to the wheel.
Step 4:
Add two more pulley halves (am-2234-half) to
the wheel.
Step 3:Flip wheel over.
Step 5: Insert one 500EX Hex Hub (am-2568) into
the pulley on one side of the wheel.
Step 6:Add six 10-24 x 1.25” (am-1266) thread forming
screws to attach the pulley and hub to the wheel.
Step 1:Add two pulley halves (am-2234-half)
to the wheel (am-0940b).
2X
NOTE: Tighten the screws in a star pattern to
ensure the pulley aligns evenly on the wheel.
NOTE: Tighten the
screws in a star
pattern to ensure the
pulley aligns evenly
on the wheel.
Step 1:Add two pulley halves (am-
2234-half) to the wheel (am-0940b).
Step 2:
Using six 10-24 x 1.25” (am-
1266) thread forming screws, attach
the pulley halves to the wheel.

10
Toughbox Mini Assembly Instructions – Build 2 gearboxes
Step 1:
Press two R6ZZ bearings (am-0516) into the two
center holes of the TB Mini Housing (am-0650). Ensure they
are fully seated and inserted all the way into the housing.
Step 2: Insert the TB Small Hex Shaft (am-0152) into
R6ZZ bearing closest to the flat edge of the housing.
Step 6:Insert the small end of the TB Hex Output
Shaft (am-2566a_K19) into the other R6ZZ bearing.
Step 5:Tap the 1/2” E-Clip (am-0206) onto the groove
on the TB Hex Output Shaft (am-2566a_K19).
Step 7:Place the 48 Tooth Gear (am-0885) on TB
Hex Output Shaft with the flat side touching the
1/2” E-Clip.
Step 8:
Apply Red Tacky Grease (am-2768) to all of
the gear teeth.
Step 3: Place the 50 tooth gear (am-0149) on the TB
Small Hex Shaft with the small round boss touching
the bearing and the flat side of the gear facing away
from the housing.
Step 4
: Place the 16 tooth gear (am-0747) on the TB
Small Hex Shaft with flat side touching the 50
tooth gear.