2018:Drivetrain - Revision history

Drivetrain at 02:10, 24 January 2018

2018-01-24T02:10:52Z

← Older revision		Revision as of 19:10, 23 January 2018
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	<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">		<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
	== Drive Base Subteam ==		== Drive Base Subteam ==
	<div class="mw-parser-output"><div class="mw-parser-output">		<div class="mw-parser-output"><div class="mw-parser-output">
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	*Grayhill Inc. 63R256 Optical Encoders		*Grayhill Inc. 63R256 Optical Encoders
	*Mounted on the center drive wheel (colson wheel) on either side of the drivebase		*Mounted on the center drive wheel shaft(colson wheel) on either side of the drivebase

	===== '''<span style="font-size:larger;">Drive base size</span>''' =====		===== '''<span style="font-size:larger;">Drive base size</span>''' =====
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	[[File:Notes.jpg\|Notes]]		[[File:Notes.jpg\|Notes]]
	</div> </div>		</div> </div> </div>

Drivetrain at 02:10, 24 January 2018

2018-01-24T02:10:30Z

← Older revision		Revision as of 19:10, 23 January 2018
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	<div class="mw-parser-output">		<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
	<div class="mw-parser-output">
	== Drive Base Subteam ==		== Drive Base Subteam ==
	<div class="mw-parser-output"><div class="mw-parser-output">		<div class="mw-parser-output"><div class="mw-parser-output">
	==== Leads: Ben S, Jordan S, Julia P ====		==== Leads: Ben S, Jordan S, Julia P ====

	~~'''''Things we need to document here''''':~~

	*Where are the encoders located and how does it relate to wheel rotation?
	*What kind of encoders are we using?

	'''Sensors'''		'''Sensors'''
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	Working on developing cross supports. Discussion with cube intake group occurred today. Priority will be on starting the 3-d printing of the spacers. (completed 1/16) This is how our CAD assembly looks currently. Not all the way done; but it is almost there! Encoder selection completed on 1/16		Working on developing cross supports. Discussion with cube intake group occurred today. Priority will be on starting the 3-d printing of the spacers. (completed 1/16) This is how our CAD assembly looks currently. Not all the way done; but it is almost there! Encoder selection completed on 1/16
	[[File:2018 Final Robot Assembly - Drive Train (1-23-18).png\|RTENOTITLE]]</div> </div> </div>		[[File:2018 Final Robot Assembly - Drive Train (1-23-18).png\|RTENOTITLE]]</div> </div> </div>

	== Daily Journal Follows: ==		== Daily Journal Follows: ==

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	[[File:Notes.jpg\|Notes]]		[[File:Notes.jpg\|Notes]]
	</div>		</div> </div>

Drivetrain at 02:09, 24 January 2018

2018-01-24T02:09:44Z

← Older revision		Revision as of 19:09, 23 January 2018
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			<div class="mw-parser-output">
	<div class="mw-parser-output">		<div class="mw-parser-output">
	== Drive Base Subteam ==		== Drive Base Subteam ==
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	*What kind of encoders are we using?		*What kind of encoders are we using?

	===== Drive base size =====		'''Sensors'''

			*Grayhill Inc. 63R256 Optical Encoders
			*Mounted on the center drive wheel (colson wheel) on either side of the drivebase

			===== '''<span style="font-size:larger;">Drive base size</span>''' =====

	*27 3/4" x 32 3/4"		*27 3/4" x 32 3/4"
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	**Bumpers will be 2" off the ground and overall 7" up		**Bumpers will be 2" off the ground and overall 7" up

	===== 6 wheels =====		===== <span style="font-size:larger;">'''6 wheels'''</span> =====

	*4 omni wheels with 2 colsen center wheels		*4 omni wheels with 2 colsen center wheels
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	Working on developing cross supports. Discussion with cube intake group occurred today. Priority will be on starting the 3-d printing of the spacers. (completed 1/16) This is how our CAD assembly looks currently. Not all the way done; but it is almost there! Encoder selection completed on 1/16		Working on developing cross supports. Discussion with cube intake group occurred today. Priority will be on starting the 3-d printing of the spacers. (completed 1/16) This is how our CAD assembly looks currently. Not all the way done; but it is almost there! Encoder selection completed on 1/16
	[[File:Drive ~~Base Picture~~ 1-18~~-2018~~.~~PNG~~\|RTENOTITLE]]</div> </div>		[[File:2018 Final Robot Assembly - Drive Train (1-23-18).png\|RTENOTITLE]]</div> </div> </div>

	== Daily Journal Follows: ==		== Daily Journal Follows: ==

Drivetrain at 00:30, 24 January 2018

2018-01-24T00:30:37Z

← Older revision		Revision as of 17:30, 23 January 2018
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			<div class="mw-parser-output">
	== Drive Base Subteam ==		== Drive Base Subteam ==
			<div class="mw-parser-output"><div class="mw-parser-output">
	<div class="mw-parser-output">
	<div class="mw-parser-output">
	==== Leads: Ben S, Jordan S, Julia P ====		==== Leads: Ben S, Jordan S, Julia P ====

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	Current		Current

	*Working on developing cross supports. Discussion with cube intake group occurred today. Priority will be on starting the 3-d printing of the spacers. (completed 1/~~16) This is how our CAD assembly looks currently. Not all the way done; but it is almost there! Encoder selection completed on 1~~/16		1/23/2018

	~~[[File:Drive Base Picture 1-18-2018~~.~~PNG\|RTENOTITLE]] </div>~~		Today the drive train sub team is working on fabrication of parts and working more on detailing our parts, members of the team assembled parts for further fabrication and packaged parts to be put on the drive train shelving unit. Other members of our team are working on further detailing and precision on the CAD drive train drawing.
	~~</div>~~


			Working on developing cross supports. Discussion with cube intake group occurred today. Priority will be on starting the 3-d printing of the spacers. (completed 1/16) This is how our CAD assembly looks currently. Not all the way done; but it is almost there! Encoder selection completed on 1/16
			[[File:Drive Base Picture 1-18-2018.PNG\|RTENOTITLE]]</div> </div>
	== Daily Journal Follows: ==		== Daily Journal Follows: ==

	<u>1/20/2018</u>		<u>1/20/2018</u>

	<u>[[File:Saftey factor bumper.PNG]]</u>		<u>[[File:Saftey factor bumper.PNG\|RTENOTITLE]]</u>

	<u>w</u>e can use one churro tube saving .125 pounds per side and still have a safty factor up to 1500lbs.		<u>w</u>e can use one churro tube saving .125 pounds per side and still have a safty factor up to 1500lbs.

	<u>[[File:Disnplacement 500 lbs bumper.PNG]]</u>		<u>[[File:Disnplacement 500 lbs bumper.PNG\|RTENOTITLE]]</u>

	<u>1/16/2018</u>		<u>1/16/2018</u>
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	[[File:Drivebase Dimensions.PNG\|RTENOTITLE]]		[[File:Drivebase Dimensions.PNG\|RTENOTITLE]]



	Mr Stoeckl did a finite element analysis (FEA) of the frame talking 1000 pound force from a bump and/or from a hit. This is the displacement:		Mr Stoeckl did a finite element analysis (FEA) of the frame talking 1000 pound force from a bump and/or from a hit. This is the displacement:
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	[[File:Frame Safety Factor.png\|RTENOTITLE]]		[[File:Frame Safety Factor.png\|RTENOTITLE]]



	<u>1/11/2018</u>		<u>1/11/2018</u>
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	Weight Table created and added columns with information that will be handy when constructing the CAW (Cost Assessment Worksheet / a.k.a. BOM).  Weight of gear and wheel assemblies is approx 33 lbs. This does not include cross braces and the plate planned for motor support.		Weight Table created and added columns with information that will be handy when constructing the CAW (Cost Assessment Worksheet / a.k.a. BOM).  Weight of gear and wheel assemblies is approx 33 lbs. This does not include cross braces and the plate planned for motor support.



	<u>1/10/2018</u>		<u>1/10/2018</u>
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	Shopping to check aluminum gear proces for Pocketed vs non-pocketed:  West Coast Products offered a pocketed VexPro Gear.  64 tooth gear cost +$4 when pocketed by WCP.  0.183 lbs per gear reduction, all 18 gears would be 3.3 lb reduction and cost $72.  Just doing the 6 gears with load will save 1.1 lbs and cost $24.  We could put holes through the non loaded idler gears to get the weight reduction without adding the cost.		Shopping to check aluminum gear proces for Pocketed vs non-pocketed:  West Coast Products offered a pocketed VexPro Gear.  64 tooth gear cost +$4 when pocketed by WCP.  0.183 lbs per gear reduction, all 18 gears would be 3.3 lb reduction and cost $72.  Just doing the 6 gears with load will save 1.1 lbs and cost $24.  We could put holes through the non loaded idler gears to get the weight reduction without adding the cost.



	<ins>1/6/2018</ins>		<ins>1/6/2018</ins>
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	Made several drawings of different sized wheels and height of the bumpers; comparing it to the ramp.		Made several drawings of different sized wheels and height of the bumpers; comparing it to the ramp.



	4 inch wheels and 2 inch height		4 inch wheels and 2 inch height
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	These are our notes comparing different size wheels and sizes of things on the field to possible drive train sizes.		These are our notes comparing different size wheels and sizes of things on the field to possible drive train sizes.



	[[File:Notes.jpg\|Notes]]		[[File:Notes.jpg\|Notes]]
			</div>

Programming at 23:53, 23 January 2018

2018-01-23T23:53:53Z

← Older revision		Revision as of 16:53, 23 January 2018
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	== Drive Base Subteam ==		== Drive Base Subteam ==

			<div class="mw-parser-output">
	<div class="mw-parser-output">		<div class="mw-parser-output">
	==== Leads: Ben S, Jordan S, Julia P ====		==== Leads: Ben S, Jordan S, Julia P ====
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	'''''Things we need to document here''''':		'''''Things we need to document here''''':

	*Where are the encoders located?		*Where are the encoders located and how does it relate to wheel rotation?
	*What kind of encoders are we using?		*What kind of encoders are we using?

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	*Working on developing cross supports. Discussion with cube intake group occurred today. Priority will be on starting the 3-d printing of the spacers. (completed 1/16) This is how our CAD assembly looks currently. Not all the way done; but it is almost there! Encoder selection completed on 1/16		*Working on developing cross supports. Discussion with cube intake group occurred today. Priority will be on starting the 3-d printing of the spacers. (completed 1/16) This is how our CAD assembly looks currently. Not all the way done; but it is almost there! Encoder selection completed on 1/16

	[[File:Drive Base Picture 1-18-2018.PNG\|RTENOTITLE]]		[[File:Drive Base Picture 1-18-2018.PNG\|RTENOTITLE]] </div>
	</div>		</div>

Programming at 23:52, 23 January 2018

2018-01-23T23:52:24Z

← Older revision		Revision as of 16:52, 23 January 2018
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	== Drive Base Subteam ==		== Drive Base Subteam ==

			<div class="mw-parser-output">
	==== Leads: Ben S, Jordan S, Julia P ====		==== Leads: Ben S, Jordan S, Julia P ====

			'''''Things we need to document here''''':

			*Where are the encoders located?
			*What kind of encoders are we using?

	===== Drive base size =====		===== Drive base size =====

	*27 3/4" x 32 3/4"		*27 3/4" x 32 3/4"
	**34 3/4" x 39 3/4" (with bumpers)		**34 3/4" x 39 3/4" (with bumpers)
	**ground clearance is 1.25 inches		**ground clearance is 1.25 inches
	**Top of Drive Base is currently at 4.25 inches with total gear clearance at 4.83 inches.  '''This is correcting the note that said the top was at 4.5 inches!'''		**Top of Drive Base is currently at 4.25 inches with total gear clearance at 4.83 inches.  '''This is correcting the note that said the top was at 4.5 inches!'''
	**front rail at 4.5 inches from the front of the frame for cube collector mechansim.		**front rail at 4.5 inches from the front of the frame for cube collector mechansim.
	**1/16 - arm is connecting to rail across the front, cube intake is intending to attach in front of the arm connection, on the diagonal frame supports. (from integration 1/16)		**1/16 - arm is connecting to rail across the front, cube intake is intending to attach in front of the arm connection, on the diagonal frame supports. (from integration 1/16)
	**6 cims on 40 amp Breakers		**6 cims on 40 amp Breakers
	**Bumpers will be 2" off the ground and overall 7" up		**Bumpers will be 2" off the ground and overall 7" up

	===== 6 wheels =====		===== 6 wheels =====

	*4 omni wheels with 2 colsen center wheels		*4 omni wheels with 2 colsen center wheels
	**<s>6 Colson wheels will be tested</s>		**<s>6 Colson wheels will be tested</s>

	'''gear actuated'''		'''gear actuated'''

	*gear ratio: 14-64		*gear ratio: 14-64

	'''frame'''		'''frame'''

	*TBD:  See discussion above on robot constraints.  Connection needs and support needs of other mechanisms. Top priorities from integration is to locate the battery. Will need to know the location of the cube manupulator pivot point.		*TBD:  See discussion above on robot constraints.  Connection needs and support needs of other mechanisms. Top priorities from integration is to locate the battery. Will need to know the location of the cube manupulator pivot point.

	Current		Current

	*Working on developing cross supports. Discussion with cube intake group occurred today. Priority will be on starting the 3-d printing of the spacers. (completed 1/16) This is how our CAD assembly looks currently. Not all the way done; but it is almost there! Encoder selection completed on 1/16		*Working on developing cross supports. Discussion with cube intake group occurred today. Priority will be on starting the 3-d printing of the spacers. (completed 1/16) This is how our CAD assembly looks currently. Not all the way done; but it is almost there! Encoder selection completed on 1/16

	[[File:Drive Base Picture 1-18-2018.PNG\|RTENOTITLE]]		[[File:Drive Base Picture 1-18-2018.PNG\|RTENOTITLE]]
			</div>

	== Daily Journal Follows: ==		== Daily Journal Follows: ==

ElectricalMain at 02:47, 21 January 2018

2018-01-21T02:47:04Z

← Older revision		Revision as of 19:47, 20 January 2018
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	== Daily Journal Follows: ==		== Daily Journal Follows: ==

			<u>1/20/2018</u>

			<u>[[File:Saftey factor bumper.PNG]]</u>

			<u>w</u>e can use one churro tube saving .125 pounds per side and still have a safty factor up to 1500lbs.

			<u>[[File:Disnplacement 500 lbs bumper.PNG]]</u>

	<u>1/16/2018</u>		<u>1/16/2018</u>

ElectricalControls at 22:10, 20 January 2018

2018-01-20T22:10:32Z

← Older revision		Revision as of 15:10, 20 January 2018
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	**34 3/4" x 39 3/4" (with bumpers)		**34 3/4" x 39 3/4" (with bumpers)
	**ground clearance is 1.25 inches		**ground clearance is 1.25 inches
	**Top of Drive Base is currently at 4.5 inches with total gear clearance at 4.83 inches.		**Top of Drive Base is currently at 4.25 inches with total gear clearance at 4.83 inches.  '''This is correcting the note that said the top was at 4.5 inches!'''
	**front rail at 4.5 inches from the front of the frame for cube collector mechansim.		**front rail at 4.5 inches from the front of the frame for cube collector mechansim.
	**1/16 - arm is connecting to rail across the front, cube intake is intending to attach in front of the arm connection, on the diagonal frame supports. (from integration 1/16)		**1/16 - arm is connecting to rail across the front, cube intake is intending to attach in front of the arm connection, on the diagonal frame supports. (from integration 1/16)

ElectricalMain at 00:15, 19 January 2018

2018-01-19T00:15:09Z

← Older revision		Revision as of 17:15, 18 January 2018
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	**1/16 - arm is connecting to rail across the front, cube intake is intending to attach in front of the arm connection, on the diagonal frame supports. (from integration 1/16)		**1/16 - arm is connecting to rail across the front, cube intake is intending to attach in front of the arm connection, on the diagonal frame supports. (from integration 1/16)
	**6 cims on 40 amp Breakers		**6 cims on 40 amp Breakers
			**Bumpers will be 2" off the ground and overall 7" up

	===== 6 wheels =====		===== 6 wheels =====

ElectricalMain at 23:26, 18 January 2018

2018-01-18T23:26:28Z

← Older revision		Revision as of 16:26, 18 January 2018
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	**front rail at 4.5 inches from the front of the frame for cube collector mechansim.		**front rail at 4.5 inches from the front of the frame for cube collector mechansim.
	**1/16 - arm is connecting to rail across the front, cube intake is intending to attach in front of the arm connection, on the diagonal frame supports. (from integration 1/16)		**1/16 - arm is connecting to rail across the front, cube intake is intending to attach in front of the arm connection, on the diagonal frame supports. (from integration 1/16)
			**6 cims on 40 amp Breakers

	===== 6 wheels =====		===== 6 wheels =====
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	*Working on developing cross supports. Discussion with cube intake group occurred today. Priority will be on starting the 3-d printing of the spacers. (completed 1/16) This is how our CAD assembly looks currently. Not all the way done; but it is almost there! Encoder selection completed on 1/16		*Working on developing cross supports. Discussion with cube intake group occurred today. Priority will be on starting the 3-d printing of the spacers. (completed 1/16) This is how our CAD assembly looks currently. Not all the way done; but it is almost there! Encoder selection completed on 1/16

	[[File:Drive Base Picture 1-18-2018.PNG]]		[[File:Drive Base Picture 1-18-2018.PNG\|RTENOTITLE]]

	== Daily Journal Follows: ==		== Daily Journal Follows: ==