2009:Robot Design Details - Revision history

Heydowns: Robot Design Details moved to 2009:Robot Design Details

2010-01-04T19:50:16Z

Robot Design Details moved to 2009:Robot Design Details

← Older revision	Revision as of 12:50, 4 January 2010
(No difference)

Leadership: changed motor

2009-02-18T18:44:25Z

changed motor

← Older revision		Revision as of 11:44, 18 February 2009
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	*Spinning ejector directs, based on direction, balls out of robot or in to hopper entry point.		*Spinning ejector directs, based on direction, balls out of robot or in to hopper entry point.
	*Powered by ~~Fischer Price 00968~~-~~2910~~ motor with plastic gearbox removed and 25:1 reduction gearbox added (same Banebots units as on conveyor drives)~~<br>~~		Powered by RS-545 Banebots* motor with plastic gearbox removed and 25:1 reduction gearbox added (same Banebots units as on conveyor drives) ** changed from Fischer Price
	*Will be chain/sprocket to save space and move weight back on robot, and to allow optimization of ejector speed without loss of motor power		*Will be chain/sprocket to save space and move weight back on robot, and to allow optimization of ejector speed without loss of motor power
	*Shaft encoder sensor ([http://usdigital.com/assets/general/91_e7p_datasheet_1.pdf E7P-180-375-S-H-G-3]) to monitor rotational speed (180 CPR).  Requires 3/8" shaft.  If we can't get [http://usdigital.com/assets/general/91_e7p_datasheet_1.pdf E7P] in time, we may have to use E4P model which requires 1/4" shaft~~.<br>~~		*Shaft encoder sensor ([http://usdigital.com/assets/general/91_e7p_datasheet_1.pdf E7P-180-375-S-H-G-3]) to monitor rotational speed (180 CPR).  Requires 3/8" shaft.  If we can't get [http://usdigital.com/assets/general/91_e7p_datasheet_1.pdf E7P] in time, we may have to use E4P model which requires 1/4" shaft
	*Jaguar speed controller		*Jaguar speed controller

Leadership: motor changes

2009-02-18T18:43:16Z

motor changes

← Older revision		Revision as of 11:43, 18 February 2009
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	*Two conveyors opposite each other, working together to move balls from ball intake and/or below the ball hopper up to the upper ball ejector/hopper entry point.		*Two conveyors opposite each other, working together to move balls from ball intake and/or below the ball hopper up to the upper ball ejector/hopper entry point.
	*Front conveyor also acts as collector to bring outside balls in via "chicken pluckers" on lower roller of conveyor		*Front conveyor also acts as collector to bring outside balls in via "chicken pluckers" on lower roller of conveyor
	*Powered by two independent motors (~~RS-545 Banebots~~ motors with [http://banebots.com/pc/MP-36XXX-545/MP-36025-545 25:1 reduction gearboxes])		Powered by two independent motors (Fischer Price* motors with [http://banebots.com/pc/MP-36XXX-545/MP-36025-545 25:1 reduction gearboxes]) **Changed from RS-545
	*Likely NOT direct drive, will likey be chain/sprocket to save space and move weight back on robot		*Likely NOT direct drive, will likey be chain/sprocket to save space and move weight back on robot
	*Banner Sensors (photoelectric): [http://www.bannerengineering-online.com/pdf/Banner%20Q10.pdf Q10RP6R] Reciever and [http://www.bannerengineering-online.com/pdf/Banner%20Q10.pdf Q106E] Source Mounted at the top of conveyor to detect ball "ready to fire"		*Banner Sensors (photoelectric): [http://www.bannerengineering-online.com/pdf/Banner%20Q10.pdf Q10RP6R] Reciever and [http://www.bannerengineering-online.com/pdf/Banner%20Q10.pdf Q106E] Source Mounted at the top of conveyor to detect ball "ready to fire"
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	*Jaguar speed controller		*Jaguar speed controller

	<br><br>		<br><br>

	== Upper Ball Ejector ==		== Upper Ball Ejector ==

Leadership: Added latest robot design

2009-01-27T23:52:25Z

Added latest robot design

← Older revision		Revision as of 16:52, 27 January 2009
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	[[Image:Scoring 1.jpg\|424x300px]] [[Image:Empty Cell 1.jpg\|247x225px]] [[Image:Collecting 1.jpg\|236x225px]]<br>		[[Image:Scoring 1.jpg\|424x300px]] [[Image:Empty Cell 1.jpg\|247x225px]] [[Image:Collecting 1.jpg\|236x225px]]<br>

	[[Image:Dimensions 1-19-09.jpg\|400x400px]]		[[Image:Dimensions 1-19-09.jpg\|400x400px]][[Image:Robot_2_1-25-2009.jpg\|400x300px]]

	== Drivetrain<br> ==		== Drivetrain<br> ==

Mechanical2 at 22:03, 26 January 2009

2009-01-26T22:03:07Z

← Older revision		Revision as of 15:03, 26 January 2009
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	*Two [http://sccatalog.honeywell.com/pdbdownload/images/v7-2b17d8-048.pdf Limit Switches] to tell when door is in open/closed position		*Two [http://sccatalog.honeywell.com/pdbdownload/images/v7-2b17d8-048.pdf Limit Switches] to tell when door is in open/closed position

	[[Image:~~Limit_Switches_Collecting~~.jpg]]		[[Image:Limit Switches Collecting.jpg]]

	<br> <br> <br>



			[[Image:Limit_Switches_Scoring.jpg]]<br> <br> <br>

	== Ball Hopper ==		== Ball Hopper ==

Mechanical2 at 21:53, 26 January 2009

2009-01-26T21:53:40Z

← Older revision		Revision as of 14:53, 26 January 2009
Line 42:		Line 42:
	*Two [http://sccatalog.honeywell.com/pdbdownload/images/v7-2b17d8-048.pdf Limit Switches] to tell when door is in open/closed position		*Two [http://sccatalog.honeywell.com/pdbdownload/images/v7-2b17d8-048.pdf Limit Switches] to tell when door is in open/closed position

	<br> <br> <br>		[[Image:Limit_Switches_Collecting.jpg]]

			<br> <br> <br>

	== Ball Hopper ==		== Ball Hopper ==

ElectricalMain at 17:24, 26 January 2009

2009-01-26T17:24:29Z

← Older revision		Revision as of 10:24, 26 January 2009
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	*Entry from conveyor at top of robot; entry controlled by upper ejector		*Entry from conveyor at top of robot; entry controlled by upper ejector
	*Exit is a "trap door" at the bottom of the hopper down to the area behind the lower ball collector and at the base of the conveyor system.		*Exit is a "trap door" at the bottom of the hopper down to the area behind the lower ball collector and at the base of the conveyor system.
	*Trap door powered by Nippon Denso Window motor (along with lower collection blocker~~; possibly a rack & pinion arrangement?~~)		*Trap door powered by Nippon Denso Window motor (along with lower collection blocker)
	*Two [http://sccatalog.honeywell.com/pdbdownload/images/v7-2b17d8-048.pdf Limit Switches] to tell when door is in open/closed position		*Two [http://sccatalog.honeywell.com/pdbdownload/images/v7-2b17d8-048.pdf Limit Switches] to tell when door is in open/closed position
	*Jaguar speed controller		*Jaguar speed controller

Programming at 22:30, 22 January 2009

2009-01-22T22:30:01Z

Drivetrain at 02:00, 22 January 2009

2009-01-22T02:00:51Z

← Older revision		Revision as of 19:00, 21 January 2009
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	== Drivetrain<br> ==		== Drivetrain<br> ==

	*4-wheel drive		*4-wheel drive(6 if needed)<br>
	*Banebots Transmissions		*Four Banebots 12:1 Transmissions
	*4 2.5" CIM motors		*Four 2.5" CIM motors
	*Victor 884 [Drive] Speed Controllers		*Victor 884 [Drive] Speed Controllers
	*Fixed wheels (slip-style steering)<br>		*Fixed wheels (slip-style steering)<br>
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	*27.25” LONG x 37.25” WIDE<br>		*27.25” LONG x 37.25” WIDE<br>
	*Rear wheel axis at 5.625 from most rear surfaces (adjustable down to 4.625 corner brace regime permitting) <br>		*Rear wheel axis at 5.625 from most rear surfaces (adjustable down to 4.625 corner brace regime permitting) <br>
	*Front wheel axis at 11.625 from front most surfaces (adjustable ± 2.00”)		*Front wheel axis at 11.625 from front most surfaces (adjustable ± 2.00”)<br>
			*Using 3/8" bolts to mount bumpers to the frame.  See drawing below for bumper mount details.
	<br>		*Spacers used will be copper pipe cut to the correct length to space wheels on the axel.
	~~<div style=~~"~~border: 2px solid rgb(255, 0, 0); padding: 4px; width: 80%; margin-left: auto; margin-right: auto; background-color: rgb(255, 221, 221); text-align: left;">~~		*6 hole patterns in the wheels need to be tapped for 10-32 screws 3/4" deep
	*Still need to ~~determine a few hardware items but I think we could use a few PEM fasteners~~ to ~~further minimize fastener system weight~~		*No stiffener element between the wheels seems to be needed.
	*We will ~~need~~ to ~~design a few spacers “on~~ the ~~fly” as we determine~~ the ~~best approach while building~~		*Trailer hitch is assembled from KOP items.
	*~~The~~ 6-hole patterns in the wheels need to be tapped for 10-32 ~~Depth TBD~~		*Determination of need to mount dummy wheels will occur once the top portion of the robot is assembled.
	*~~Need to add the~~ stiffener element between the wheels ~~(1/side 1”x1” ext~~. ~~Al stock is light and will work well and can be welded)~~		*Dummy wheels will be supported using 3/8" bolt, length TBD.
	*~~Need to cut necessary smaller frame elements~~ from ~~stock~~		*Bearings will be inserted in the dummy wheels from the kit of parts.
	*~~Need~~ to ~~design in provisions for front “dummy wheels” biased 1/8” up for roll over protection~~
	</~~div>~~
	~~<br>~~

	[[Image:Drivetrain 1-14-2009.JPG\|500x400px\|Current Drivetrain design as of 01/14/2009]]<br>		[[Image:Drivetrain 1-14-2009.JPG\|500x400px\|Current Drivetrain design as of 01/14/2009]]<br>

	<br>		[[Image:Bumper_Bracket.JPG]]<br>

	== Front Ball Entry/Exit ==		== Front Ball Entry/Exit ==

ElectricalMain at 00:21, 21 January 2009

2009-01-21T00:21:52Z

← Older revision		Revision as of 17:21, 20 January 2009
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	*Powered by two independent motors (RS-545 Banebots motors with [http://banebots.com/pc/MP-36XXX-545/MP-36025-545 25:1 reduction gearboxes])		*Powered by two independent motors (RS-545 Banebots motors with [http://banebots.com/pc/MP-36XXX-545/MP-36025-545 25:1 reduction gearboxes])
	*Likely NOT direct drive, will likey be chain/sprocket to save space and move weight back on robot		*Likely NOT direct drive, will likey be chain/sprocket to save space and move weight back on robot
	*Banner Sensors (photoelectric): [[http://www.bannerengineering-online.com/pdf/Banner%20Q10.pdf Q10RP6R]]Reciever and [http://www.bannerengineering-online.com/pdf/Banner%20Q10.pdf Q106E] Source Mounted at the top of conveyor to detect ball "ready to fire"		*Banner Sensors (photoelectric): [http://www.bannerengineering-online.com/pdf/Banner%20Q10.pdf Q10RP6R] Reciever and [http://www.bannerengineering-online.com/pdf/Banner%20Q10.pdf Q106E] Source Mounted at the top of conveyor to detect ball "ready to fire"
	*2 Omron photoelectric sensors arranged with a small wheel used to determine conveyor speed.  One disk/sensor per conveyor.		*2 [http://www.iprocessmart.com/Omron_cd/PDF/D21SPY415199.pdf Omron ]photoelectric sensors arranged with a small wheel used to determine conveyor speed.  One disk/sensor per conveyor.
	*Jaguar speed controller		*Jaguar speed controller

Line 74:		Line 74:
	*Powered by Fischer Price 00968-2910 motor with plastic gearbox removed and 25:1 reduction gearbox added (same Banebots units as on conveyor drives)<br>		*Powered by Fischer Price 00968-2910 motor with plastic gearbox removed and 25:1 reduction gearbox added (same Banebots units as on conveyor drives)<br>
	*Will be chain/sprocket to save space and move weight back on robot, and to allow optimization of ejector speed without loss of motor power		*Will be chain/sprocket to save space and move weight back on robot, and to allow optimization of ejector speed without loss of motor power
	*Shaft encoder sensor (E7P-180-375-S-H-G-3) to monitor rotational speed (180 CPR).  Requires 3/8" shaft.  If we can't get E7P in time, we may have to use E4P model which requires 1/4" shaft.<br>		*Shaft encoder sensor ([http://usdigital.com/assets/general/91_e7p_datasheet_1.pdf E7P-180-375-S-H-G-3]) to monitor rotational speed (180 CPR).  Requires 3/8" shaft.  If we can't get [http://usdigital.com/assets/general/91_e7p_datasheet_1.pdf E7P] in time, we may have to use E4P model which requires 1/4" shaft.<br>
	*Jaguar speed controller		*Jaguar speed controller

← Older revision		Revision as of 15:30, 22 January 2009
Line 9:		Line 9:
	== Drivetrain<br> ==		== Drivetrain<br> ==

	*4-wheel drive(6 if needed)<br>		*4-wheel drive(6 if needed)<br>
	*Four Banebots 12:1 Transmissions		*Four Banebots 12:1 Transmissions
	*Four 2.5" CIM motors		*Four 2.5" CIM motors
Line 18:		Line 18:
	*Rear wheel axis at 5.625 from most rear surfaces (adjustable down to 4.625 corner brace regime permitting) <br>		*Rear wheel axis at 5.625 from most rear surfaces (adjustable down to 4.625 corner brace regime permitting) <br>
	*Front wheel axis at 11.625 from front most surfaces (adjustable ± 2.00”)<br>		*Front wheel axis at 11.625 from front most surfaces (adjustable ± 2.00”)<br>
	*Using 3/8" bolts to mount bumpers to the frame.  See drawing below for bumper mount details.		*Using 3/8" bolts to mount bumpers to the frame.  See drawing below for bumper mount details.
	*Spacers used will be copper pipe cut to the correct length to space wheels on the axel.		*Spacers used will be copper pipe cut to the correct length to space wheels on the axel.
	*6 hole patterns in the wheels need to be tapped for 10-32 screws 3/4" deep		*6 hole patterns in the wheels need to be tapped for 10-32 screws 3/4" deep
	*No stiffener element between the wheels seems to be needed.		*No stiffener element between the wheels seems to be needed.
	*Trailer hitch is assembled from KOP items.		*Trailer hitch is assembled from KOP items.
	*Determination of need to mount dummy wheels will occur once the top portion of the robot is assembled.		*Determination of need to mount dummy wheels will occur once the top portion of the robot is assembled.
	*Dummy wheels will be supported using 3/8" bolt, length TBD.		*Dummy wheels will be supported using 3/8" bolt, length TBD.
	*Bearings will be inserted in the dummy wheels from the kit of parts.		*Bearings will be inserted in the dummy wheels from the kit of parts.

	[[Image:Drivetrain 1-14-2009.JPG\|500x400px\|Current Drivetrain design as of 01/14/2009]]<br>		[[Image:Drivetrain 1-14-2009.JPG\|500x400px\|Current Drivetrain design as of 01/14/2009]]<br>

	[[Image:~~Bumper_Bracket~~.JPG]]<br>		[[Image:Bumper Bracket.JPG]]<br>

	== Front Ball Entry/Exit ==		== Front Ball Entry/Exit ==
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	*Trap door powered by Nippon Denso Window motor (along with lower collection blocker; possibly a rack & pinion arrangement?)		*Trap door powered by Nippon Denso Window motor (along with lower collection blocker; possibly a rack & pinion arrangement?)
	*Two [http://sccatalog.honeywell.com/pdbdownload/images/v7-2b17d8-048.pdf Limit Switches] to tell when door is in open/closed position		*Two [http://sccatalog.honeywell.com/pdbdownload/images/v7-2b17d8-048.pdf Limit Switches] to tell when door is in open/closed position
	*Two [http://www.bannerengineering-online.com/pdf/Banner%20Q10.pdf Q10RP6R] Recievers and [http://www.bannerengineering-online.com/pdf/Banner%20Q10.pdf Q106E] Sources mounted at the top to determine when the hopper is full<br>
	*Jaguar speed controller		*Jaguar speed controller