2018:Cube Mechanism - Revision history

Mechanical1 at 03:06, 26 January 2018

2018-01-26T03:06:09Z

← Older revision		Revision as of 20:06, 25 January 2018
Line 3:		Line 3:
	'''Leads:''' Tom C, Andrew F, Matt D		'''Leads:''' Tom C, Andrew F, Matt D

			<div class="mw-parser-output">
	<div class="mw-parser-output">		<div class="mw-parser-output">
	== Current Intake ==		== Current Intake ==
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	*2 775pros geared with 5:1 and 3:1 for 15:1 reduction		*2 775pros geared with 5:1 and 3:1 for 15:1 reduction
	*'''''Things we need to document here''''':		*'''''Things we need to document here''''':
	**How is this held inside frame perimeter?		**How is this held inside frame perimeter?  With the 3/4" bore x4.0" stroke air cylinder extended, it puts pressure on a level that holds the assembly vertical or past vertical leaning into the robot.
	**What kind of action or actuations make it "deploy" outward? When should this happen? Is it retractable after deployed?		**What kind of action or actuations make it "deploy" outward? When should this happen? Is it retractable after deployed?  Retraction of the air cylinder will cause the intake subassembly to rotate CCW (facing the left side of the robot) 90 degrees to the fully deployed position.  There is a hard stop.  Actuaction should happen prior to intaking a cube.  It is thought that the intake will remain retracted (for protection, until needed to intake a cube.  Yes it is retractable after deployment..
	**What is the intended operation of the 2 775's? Run always? Run until cube in place? Driver on/off manually?		**What is the intended operation of the 2 775's? Run always? Run until cube in place? Driver on/off manually?  They run in opposite directions:  Cube in, left motor runs CW, right one runs CCW.  To expell a cube, left runs CCW, right runs CW.  Driver should have control to start the intake.  Cube in position at front frame rail or at arm roller pick up, the intake rollers should stop.
	**Is there any articulation parallel to the ground? What controls that?		**Is there any articulation parallel to the ground? What controls that?  It may be desirable to have the arms float, so that if hit from the front, the arms could move upward.  At best the thought would be to remove air from the cylinder (both ports to vent).  The intake rollers (4 in dia. wheels) will float on the hex drive shaft as well.  One possible control option would be to give drivers a button the intakes while held down, and expells while another button is held down..

	[[File:Intake 1-25-2018.PNG]]		[[File:Intake 1-25-2018.PNG\|RTENOTITLE]] </div>
	</div>		</div>

Programming at 22:50, 25 January 2018

2018-01-25T22:50:27Z

← Older revision		Revision as of 15:50, 25 January 2018
Line 3:		Line 3:
	'''Leads:''' Tom C, Andrew F, Matt D		'''Leads:''' Tom C, Andrew F, Matt D

			<div class="mw-parser-output">
	== Current Intake ==		== Current Intake ==

	* Weight: 6.292 lb + fasteners		*Weight: 6.292 lb + fasteners
	* 2 775pros geared with 5:1 and 3:1 for 15:1 reduction		*2 775pros geared with 5:1 and 3:1 for 15:1 reduction
	* '''''Things we need to document here''''':		*'''''Things we need to document here''''':
	** How is this held inside frame perimeter?		**How is this held inside frame perimeter?
	** What kind of action or actuations make it "deploy" outward? When should this happen? Is it retractable after deployed?		**What kind of action or actuations make it "deploy" outward? When should this happen? Is it retractable after deployed?
	** What is the intended operation of the 2 775's? Run always? Run until cube in place? Driver on/off manually?		**What is the intended operation of the 2 775's? Run always? Run until cube in place? Driver on/off manually?
	** Is there any articulation parallel to the ground? What controls that?		**Is there any articulation parallel to the ground? What controls that?


	~~[[File:Intake 1-20-2018.PNG]]~~

			[[File:Intake 1-25-2018.PNG]]
			</div>

	== Current Cube Transport ==		== Current Cube Transport ==

Heydowns: /* Current Cube Transport */

2018-01-23T18:23:57Z

Current Cube Transport

← Older revision		Revision as of 11:23, 23 January 2018
Line 28:		Line 28:
	** What is the intended operation to "score" on the switch? (what angle to go to? what needs to move?)		** What is the intended operation to "score" on the switch? (what angle to go to? what needs to move?)
	** What is the intended way to pass through to exchange? (what angle to go to? what needs to move?)		** What is the intended way to pass through to exchange? (what angle to go to? what needs to move?)
			** How does the arm maintain a stable angular position? Will it backdrive?
	** How does this thing know what it's angular position is? How can it be controlled?		** How does this thing know what it's angular position is? How can it be controlled?
	** How does the cube-holding work? what keeps it in place?		** How does the cube-holding work? what keeps it in place?

Heydowns at 18:14, 23 January 2018

2018-01-23T18:14:28Z

@@ Line 19: / Line 19: @@
 == Current Cube Transport ==
-We have decided on an arm design. The plan is to be able to rotate 180+ degrees for easy Power Cube Zone to Exchange times.
+* We have decided on an arm design.
 <span style="font-size:small;">Calculations have been done for the arm and the next task will be to figure out gearing and sprocket sizes to finalize the numbers.&nbsp;&nbsp;</span>

Heydowns at 18:07, 23 January 2018

2018-01-23T18:07:39Z

← Older revision		Revision as of 11:07, 23 January 2018
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	= '''<u>Cube Subteam</u>''' =		= '''<u>Cube Subteam</u>''' =

	~~====~~ Leads: Tom C, Andrew F, Matt D ~~====~~		'''Leads:''' Tom C, Andrew F, Matt D

	== Current Intake ==		== Current Intake ==
Line 16:		Line 16:
	[[File:Intake 1-20-2018.PNG]]		[[File:Intake 1-20-2018.PNG]]

	~~== Prototype Intake ==~~

	*Side rollers with 1 blue compliance wheel on each side as close to the ground as possible.
	*Rollers are on arms that can pivot outwards and are tensioned with surgical tubing attached to the frame.
	*Rollers are belted to motors mounted on the arms.
	**2 775pros geared 30:1.
	**Changed to MiniCIMs geared 8:1.
	*10.5" long arms.
	*Intake must grab the cube in a way that when it flips over to the other side the cube is in the right position for the exchange.
	*Capable of grabbing any cube it touches.

	~~[[File:1-14-18 Intake Packaging .jpg\|800px\|1-14-18 Intake Packaging .jpg]]~~

	~~This drawing depicts how the intake would fold into the drive train.~~

	*Note: this design is not being used, the intake now pivots up instead.

	== Current Cube Transport ==		== Current Cube Transport ==
Line 39:		Line 23:
	<span style="font-size:small;">Calculations have been done for the arm and the next task will be to figure out gearing and sprocket sizes to finalize the numbers.  </span>		<span style="font-size:small;">Calculations have been done for the arm and the next task will be to figure out gearing and sprocket sizes to finalize the numbers.  </span>

	== <span style="font-size:small;">[[File:Rotating Arm Geometry Picture.PNG\|RTENOTITLE]]</span> ==		<span style="font-size:small;">[[File:Rotating Arm Geometry Picture.PNG\|RTENOTITLE]]</span>

			=== Stress Analysis ===
	<span style="font-size:small;">[[File:Safty.PNG]]</span>		<span style="font-size:small;">[[File:Safty.PNG]]</span>

	<span style="font-size:small;">[[File:Displacement analysis 13.PNG]]</span>		<span style="font-size:small;">[[File:Displacement analysis 13.PNG]]</span>

	== Meeting Notes ==		= Meeting Notes =

	1/7 - Sunday:		1/7 - Sunday:
Line 109:		Line 94:

	= Historical Design Documentation =		= Historical Design Documentation =
			== Intake ==

			=== Prototype Intake ===

			*Side rollers with 1 blue compliance wheel on each side as close to the ground as possible.
			*Rollers are on arms that can pivot outwards and are tensioned with surgical tubing attached to the frame.
			*Rollers are belted to motors mounted on the arms.
			**2 775pros geared 30:1.
			**Changed to MiniCIMs geared 8:1.
			*10.5" long arms.
			*Intake must grab the cube in a way that when it flips over to the other side the cube is in the right position for the exchange.
			*Capable of grabbing any cube it touches.

			[[File:1-14-18 Intake Packaging .jpg\|800px\|1-14-18 Intake Packaging .jpg]]

			This drawing depicts how the intake would fold into the drive train.

			*Note: this design is not being used, the intake now pivots up instead.


	== Transport ==		== Transport ==

Heydowns: /* Current Intake */

2018-01-23T18:04:03Z

Current Intake

← Older revision		Revision as of 11:04, 23 January 2018
Line 5:		Line 5:
	== Current Intake ==		== Current Intake ==

	*Weight: 6.292 lb + fasteners		* Weight: 6.292 lb + fasteners
	*2 775pros geared with 5:1 and 3:1 for 15:1 reduction		* 2 775pros geared with 5:1 and 3:1 for 15:1 reduction
			* '''''Things we need to document here''''':
			** How is this held inside frame perimeter?
			** What kind of action or actuations make it "deploy" outward? When should this happen? Is it retractable after deployed?
			** What is the intended operation of the 2 775's? Run always? Run until cube in place? Driver on/off manually?
			** Is there any articulation parallel to the ground? What controls that?


	[[File:Intake 1-20-2018.PNG]]		[[File:Intake 1-20-2018.PNG]]

Heydowns at 17:54, 23 January 2018

2018-01-23T17:54:52Z

← Older revision		Revision as of 10:54, 23 January 2018
Line 100:		Line 100:
	***Bearings/Bushings		***Bearings/Bushings
	***Aluminum stock		***Aluminum stock


			= Historical Design Documentation =

			== Transport ==
			=== Time Trials ===

			On 1/10/2018 time trials were conducted using past years' robots to determine how much driver control affected timings for picking up a CUBE and getting it to the EXCHANGE.  Picking up, driving backwards and delivering the CUBE to the EXCHANGE was compared to picking up a CUBE, turning 180 degrees, abd delivering the CUBE to the EXCHANGE.

			{\| border="1" cellspacing="1" cellpadding="1" style="width: 470px;"
			\|-
			\| style="width: 142px;" \|
			\| style="width: 59px;" \| 2016
			\| style="width: 56px;" \| 2017
			\| style="width: 74px;" \| AVERAGE
			\| style="width: 117px;" \| 16" FP Extensions
			\|-
			\| style="width: 142px;" \| 180 Degree Turn
			\| style="width: 59px;" \| 53
			\| style="width: 56px;" \| 47
			\| style="width: 74px;" \| 50
			\| style="width: 117px;" \| 42
			\|-
			\| style="width: 142px;" \| Back & Forth
			\| style="width: 59px;" \| 35
			\| style="width: 56px;" \| 33
			\| style="width: 74px;" \| 34
			\| style="width: 117px;" \| 27<br/><br/>
			\|}

			=== Arm ===

			*[[File:Arm at Switch side view.JPG\|RTENOTITLE]]
			*[[File:Arm at XC plan view.JPG\|RTENOTITLE]]
			*[[File:Arm at XC side view.JPG\|RTENOTITLE]]

			=== Conveyor  ===

			*[[File:Conveyor at Switch Side view.JPG\|RTENOTITLE]]
			*[[File:Conveyor at XC plan view.JPG\|RTENOTITLE]]
			*[[File:Conveyor at XC side view.JPG\|RTENOTITLE]]

Programming at 17:17, 21 January 2018

2018-01-21T17:17:17Z

← Older revision		Revision as of 10:17, 21 January 2018
Line 31:		Line 31:
	We have decided on an arm design. The plan is to be able to rotate 180+ degrees for easy Power Cube Zone to Exchange times.		We have decided on an arm design. The plan is to be able to rotate 180+ degrees for easy Power Cube Zone to Exchange times.

	== <span style="font-size:small;">Calculations have been done for the arm and the next task will be to figure out gearing and sprocket sizes to finalize the numbers.  </span> ==		<span style="font-size:small;">Calculations have been done for the arm and the next task will be to figure out gearing and sprocket sizes to finalize the numbers.  </span>

	== <span style="font-size:small;">[[File:Rotating Arm Geometry Picture.PNG\|RTENOTITLE]]</span> ==		== <span style="font-size:small;">[[File:Rotating Arm Geometry Picture.PNG\|RTENOTITLE]]</span> ==

Programming at 17:10, 21 January 2018

2018-01-21T17:10:44Z

← Older revision		Revision as of 10:10, 21 January 2018
Line 24:		Line 24:

	This drawing depicts how the intake would fold into the drive train.		This drawing depicts how the intake would fold into the drive train.

			*Note: this design is not being used, the intake now pivots up instead.

	== Current Cube Transport ==		== Current Cube Transport ==

Programming at 17:08, 21 January 2018

2018-01-21T17:08:37Z

← Older revision		Revision as of 10:08, 21 January 2018
Line 94:		Line 94:
	*Intake		*Intake
	**Estimated weight: 6.292 lb (not including fasteners)		**Estimated weight: 6.292 lb (not including fasteners)
			**Put parts on shopping list:
			***Motors and gearboxes
			***Bearings/Bushings
			***Aluminum stock

← Older revision		Revision as of 10:54, 23 January 2018
Line 100:		Line 100:
	***Bearings/Bushings		***Bearings/Bushings
	***Aluminum stock		***Aluminum stock


			= Historical Design Documentation =

			== Transport ==
			=== Time Trials ===

			On 1/10/2018 time trials were conducted using past years' robots to determine how much driver control affected timings for picking up a CUBE and getting it to the EXCHANGE.  Picking up, driving backwards and delivering the CUBE to the EXCHANGE was compared to picking up a CUBE, turning 180 degrees, abd delivering the CUBE to the EXCHANGE.

			{\| border="1" cellspacing="1" cellpadding="1" style="width: 470px;"
			\|-
			\| style="width: 142px;" \|
			\| style="width: 59px;" \| 2016
			\| style="width: 56px;" \| 2017
			\| style="width: 74px;" \| AVERAGE
			\| style="width: 117px;" \| 16" FP Extensions
			\|-
			\| style="width: 142px;" \| 180 Degree Turn
			\| style="width: 59px;" \| 53
			\| style="width: 56px;" \| 47
			\| style="width: 74px;" \| 50
			\| style="width: 117px;" \| 42
			\|-
			\| style="width: 142px;" \| Back & Forth
			\| style="width: 59px;" \| 35
			\| style="width: 56px;" \| 33
			\| style="width: 74px;" \| 34
			\| style="width: 117px;" \| 27<br/><br/>
			\|}

			=== Arm ===

			*[[File:Arm at Switch side view.JPG\|RTENOTITLE]]
			*[[File:Arm at XC plan view.JPG\|RTENOTITLE]]
			*[[File:Arm at XC side view.JPG\|RTENOTITLE]]

			=== Conveyor  ===

			*[[File:Conveyor at Switch Side view.JPG\|RTENOTITLE]]
			*[[File:Conveyor at XC plan view.JPG\|RTENOTITLE]]
			*[[File:Conveyor at XC side view.JPG\|RTENOTITLE]]