Apertured article, insertion article and associated systems

A robot comprising:

• an assembly for rotating a wheel-shaped object that comprises:
• the wheel-shaped object that comprises an aperture that includes an outer periphery coinciding with a first reference circle with a first radius and an inner periphery coinciding with a second reference circle with a second radius that is less than the first radius, wherein the inner periphery defines a plurality of inner peripheral surfaces forming elongated arcs that are concentric with the first reference circle and the second reference circle;
• and
• one or more insertion articles dimensioned to be inserted into the aperture, wherein the one or more insertion articles provides the assembly with an option of a live axle and a dead axle, and wherein:
• the one or more insertion articles includes a first shaft with a splined outer surface dimensioned to engage the outer periphery and the inner periphery of the aperture to provide the assembly with the live axle;
• and
• the one or more insertion articles includes a bearing comprising:
• an outer surface dimensioned to engage only the inner peripheral surfaces of the aperture, and
• a bore that is concentric with the first reference circle and the second reference circle and sized to receive a second shaft to provide the assembly with the dead axle.

A method of assembling an assembly for rotating a wheel-shaped object, the method comprising:

• obtaining the wheel-shaped object that comprises an aperture that includes an outer periphery coinciding with a first reference circle with a first radius and an inner periphery coinciding with a second reference circle with a second radius that is less than the first radius, wherein the inner periphery defines a plurality of inner peripheral surfaces forming elongated arcs that are concentric with the first reference circle and the second reference circle;
• determining an axle type of the assembly;
• obtaining an insertion article from one or more insertion articles based on the axle type of the assembly, wherein the insertion article is dimensioned to be inserted into the aperture;
• responsive to determining that the assembly has a live axle, inserting a first shaft into the aperture of the wheel-shaped object, wherein the first shaft includes a splined outer surface dimensioned to engage the outer periphery and the inner periphery of the aperture of the wheel-shaped object;
• and
• responsive to determining that the assembly has a dead axle, inserting a bearing into the aperture of the wheel-shaped object, wherein the bearing includes:
• an outer surface dimensioned to engage only the inner peripheral surfaces of the aperture, and
• a bore that is concentric with the first reference circle and the second reference circle and sized to receive a second shaft to provide the assembly with the dead axle.