2019:Robot Design Details: Difference between revisions

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Overall design decisions, notes, specifications, and integration items here! Integration Task List (NEEDS LINK HERE)
Overall design decisions, notes, specifications, and integration items here! Integration Task List (NEEDS LINK HERE)
 
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= Overall Robot Dimensional Restraints =
= Overall Robot Dimensional Restraints =


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|-
|-
! scope="row" | Robot Boundary
! scope="row" | Robot Boundary
| 34"
| 34.25"
| 24"
| 25"
| 116"
|  
118.5
 
|}
|}


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== Drive Base Materials ==
== Drive Base Materials ==


1"x3"x1/8" 6061 Aluminum Angle Stock
{| border="1" cellpadding="1" cellspacing="1" style="width: 500px;"
 
|-
1"x3"x1/8" 6061 Aluminum Channel Stock
! scope="col" | Function
</div>
! scope="col" | Material
|-
| Perimeter Rail (Long Side)
| 1"x3"x1/8" 6061 Aluminum Angle Stock
|-
| Inner Rail (Long Side)
| 1"x3"x1/8" 6061 Aluminum Channel Stock
|-
| Perimeter Rail (Short Side)
| TBD
|}


&nbsp;
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= Actuators =
= Actuators =


''''' THE FOLLOWING TABLES ARE COPIES OF 2018's TABLES AND HAVE BEEN LEFT FOR ILLUSTRATION ONLY - DO NOT USE FOR 2019!'''''
&nbsp;
Please delete the above note and replace content of the tables below with 2019-relevant information once available.
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== Motors&nbsp; ==
== Motors (2018 COPY REMOVE THIS NOTE WHEN UPDATED FOR 2019!) ==


{| border="1" cellpadding="10" cellspacing="1"
{| border="1" cellpadding="10" cellspacing="1"
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| '''Notes'''
| '''Notes'''
|-
|-
| Intake
| Cargo
| Grabs the cube and puts it in the hand
| picks up and deploys the cargo&nbsp;
| &nbsp;30A
| &nbsp;
| 775 Pro
| 775 Pro
| 2 - one left, one right
| 2
| 15"1 gear ratio - 5:1 and 3:1 in versa planetary gearbox
| Starting with gear ratio 9:1
|-
|-
| Arm
| Elevator
| Pivots arm to robot/front back
| moves the cube and hatch mechanisms up and down
| &nbsp;30A
| &nbsp;
| 775 pro
| 775 Pro
| 1
| 2
| 50:1 gear ratio:&nbsp; 5:1, 5:1 in versa planetary, 18T timing pulley on motor, 36T timing pulley&nbsp; on axle.&nbsp; If belt fails, wil chane to 15T sprocket on motor, 32T sprocket on axle.
|-
| Hand
| holds the cube as it moves around the robot and deploys the cube
| &nbsp;30A
| 775 pro
| 1
| Starting ration will be16:1 - (2) 4:1 in the versa panetary gearbox.
|-
| Lift/Ramp
|  
|  
Lifts the ramp/platform with another team's robots on top
gear ratio 16:1


| &nbsp;30A
|-
| 775 pro
| Habitat
| 4, 2 per lift
| rotates wheels at rear two pistons
| 2 Lift systems (jacks) per ramp, 1 motor on each
| &nbsp;
| 775 Pro
| 2
| gear ratio 49:1
|-
|-
| Drive Base
| Drive Base
Line 79: Line 85:
| &nbsp;40A
| &nbsp;40A
| CIM
| CIM
| 6 (dropped to 4)
| 4
| Gear ratio 14:64
|  
Gear ratio 14:68&nbsp;
 
option to add two additional motors
 
option to swap out CIMs to Neos
 
|}
|}
 
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== Pneumatics (2018 COPY REMOVE THIS NOTE WHEN UPDATED FOR 2019!) ==
== Pneumatics&nbsp; ==


{| border="1" cellpadding="10" cellspacing="1"
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| '''Mechanism'''
| '''Mechanism'''
| '''Action - Say what extend and retract do!'''
| '''Action - Say what extend and retract do!'''
| '''Cylinder'''
| style="width: 42px" | '''Number of Cylinders'''
| '''Extend Powered?'''
| style="width: 74px" | '''Cylinder'''
| '''Extend Exhaust to Atmosphere?'''
|  
| '''Retract Powered?'''
'''Extend Powered?'''
| '''Retract Exhaust to Atmosphere?'''
 
&nbsp;
 
|  
'''Extend Exhaust to Atmosphere?'''
 
&nbsp;
 
|  
'''Retract Powered?'''
 
&nbsp;
 
|  
'''Retract Exhaust to Atmosphere?'''
 
&nbsp;
 
| '''Working Pressure'''
| '''Working Pressure'''
| '''Estimated Firings per Match'''<br/> (Sum of all powered directions!)
| '''Estimated Firings per Match Cycles'''<br/> (Sum of all powered directions!)
| '''Notes'''
| '''Notes'''
|-
|-
| Intake
| Hatch
| Extend = raise intake into robot<br/> Retract = lower intake to retrieve cubes
| Extend = raises the hook<br/> Retract = lowers the hook
| Bimba M-044-DP. Magnetic 3/4" bore 4" stroke, pivot mount
| style="width: 42px" | 1
| Yes
| style="width: 74px" |
&nbsp;
 
3/4" Bore, 1" Stroke
 
| Yes
| Yes
| Yes
| Yes
| Yes&nbsp;
| Yes
| Yes
| 60 PSI
| &nbsp;40
|  
|  
Assumes a defensive game (retract to prevent damage)
50 PSI


RB1 on order
| &nbsp;36&nbsp;
 
|
RB2 on shelf
Trunnion Front Mount


|-
|-
| Arm Brake
| Cargo&nbsp;
|  
|  
Extend (spring loaded extension) = disengage brake
Extend=Positions Wheels for Pickup


Retract = Engage brake
Retract= Moves Wheels Away for Hatch
 
| style="width: 42px" | 2
| style="width: 74px" |
&nbsp;
 
&nbsp;1 1/16" Bore, 7" Stroke


| Bimba 041-D. 3/4" bore 1" stroke
| No
| Yes
| Yes
| Yes
| Yes
| Yes
| Yes
| 60 PSI
|  
|  
&nbsp;40
Yes
 
| 50 PSI
| 6
|
Magnetic Positioning


''(Review comment: Would expect this to be greater than # of intake firings even under severe defense due to uncertainty of how to use cube and putting in "up" position for any substantial movement)''
Rear Pivot Mount


|
Worst Case Game
2 cubes auto, 8 cubes vault, 8-10 cubes switch @ 2 x per cube&nbsp;


Rb1 & RB2 on shelf
'''Cylinders share a solenoid'''


|-
|-
| Hand on Arm
| Elevator
| Retract = "close" hand, tighten on cube<br/> Extend = "open" hand, loosen grip on cube
| Bimba 042-D. 3/4" bore 2" stroke
| No
| Yes
| Yes
| Yes
| &nbsp;?? PSI - 60 may be too high
|  
|  
20
Extend =&nbsp;Places elevator in starting config.


''(Review comment: Thought the plan was this does not fire at all and acts as an "air spring"?)''
Retract = Places elevator in match position


| style="width: 42px" | 1
| style="width: 74px" |
&nbsp;
&nbsp;


&nbsp;1.5" bore&nbsp; 8" stroke
| Yes
| Yes
| Yes
| Yes
| 50 PSI
| 2
|  
|  
2 cubes auto, 8 cubes vault, 8-10 cubes switch&nbsp;
Rear Pivot Mount


RB1 & RB2 on shelf
Cycles assume we do not do defense


|-
|-
| Elevator Brake
|  
|  
Lifts/Ramps
Extend = Engage brake
 
Retract = Disengage brake
 
| style="width: 42px" | 1
| style="width: 74px" |
1 1/4" Bore, 1/4" Stroke&nbsp;


(One cylinder per platform/ramp but they are plumbed together on same solenoid)
| Yes
| Yes
| Yes
| Yes
| 50 PSI
|
&nbsp;34


|  
|  
Hold/Release ramp system. Extend = hold ramps up
Flexible Mount Air Cylinder


Retract = release ramps to ground level
|-
|
Habitat Lift - Robot Front


&nbsp;
&nbsp;


|  
|  
Bimba 061.5-DXDE&nbsp; 7/8" bore, 1.5" stroke
Extend = lifts the robot
 
Retract = Moves Rods Out of the Way to Allow Robot on Platform


Double acting, double ended
| style="width: 42px" | 2
| style="width: 74px" |
1 1/2" bore, 22" stroke


| &nbsp;Yes
| &nbsp;Yes
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| Yes
| Yes
| Yes
| Yes
| 60 PSI
| 50 PSI
|  
|  
1
2


&nbsp;
|
Magnetic Positioning


&nbsp;
'''Both of these front cylinders share a solenoid'''


|-
| Habitat Lift - Robot Rear
|  
|  
Starts match under pressure
Extend = lifts the robot


Modifying mounting to use 3/4" bore, 2" stroke double acting on hand.&nbsp; Will cut off 1/4" pf threaded end and grind down remaining threads.&nbsp;
Retract = Brings Rods Up Enough To Not Be Supported On Level 1


RB1 & RB2 on shelf.
| style="width: 42px" | 2
| style="width: 74px" |
1 1/2" bore, 22" stroke


| Yes
| Yes
| Yes
| Yes
| 50 PSI
| 2
|
&nbsp;
&nbsp;


Consider we may not need to start match under pressure - all loads lateral.&nbsp;&nbsp;
Magnetic Positioning
 
'''Both of these rear cylinders share a solenoid'''


|}
|}


= Sensor Chart (2018 COPY REMOVE THIS NOTE WHEN UPDATED FOR 2019!) =
'''<u>Pneumatics Analysis Spreadsheet:</u>'''
 
[https://drive.google.com/open?id=1gFQ3QFwumD_wfPq7BhPWqa_nPq6gl0oK https://drive.google.com/open?id=1gFQ3QFwumD_wfPq7BhPWqa_nPq6gl0oK]&nbsp;
 
&nbsp;
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= Sensor Chart&nbsp; =


{| border="1" cellpadding="10" cellspacing="1" style="width: 1236px;"
{| border="1" cellpadding="10" cellspacing="1" style="width: 1236px"
|-
|-
| '''Mechanism'''
| '''Mechanism'''
| '''Sensor Type'''
| '''Sensor Type'''
| '''Function'''
| '''Function'''
| style="width: 286px;" | '''Attachment Point'''
| style="width: 286px" | '''Attachment Point'''
| style="width: 147px;" | '''Notes'''
| style="width: 147px" | '''Notes'''
|-
|-
| Intake
| Hatch
| Magnetic reed switches (2) on pivot cylinder
|  
| Senses when cylinder has completed up and down motion
&nbsp;limit switch
| style="width: 286px;" | On cylinder
 
| style="width: 147px;" | &nbsp;
Honeywell <span style="font-size:13px; color:#000000; font-weight:normal; text-decoration:none; font-family:'Arial'; font-style:normal; text-decoration-skip-ink:none">SZL-VL-S-B-N-M</span>
 
| to confirm that we have the hatch against the backplate
| style="width: 286px" |
Side-mount to vertical square tube "back stop" for hatch holder.&nbsp; Switch arm extends out ~ 1.5" into where disc would be held.&nbsp; Should be positioned just high enough to miss center hole on all possible disc approach heights for loading station.
 
| style="width: 147px" | &nbsp;
|-
| Hatch/Cargo/Drive
|
Camera/vision
 
Microsoft LifeCam HD-3000
 
&nbsp;
 
| for driver vision in sandstorm as well as vision lining up with the hatchs/ports
| style="width: 286px" | mounted on the back outer frame cross piece on the elevator behind the chain and paracord. also is on a servo which will control the angle&nbsp;
| style="width: 147px" | &nbsp;
|-
|-
| Arm
| Cargo
| Potentiometer
| Talon Speed Controller - NOT ACTUALLY A SENSOR JUST HERE FOR REFERENCE
| Absolute rotation position of arm.
| knowing that we have acquired the ball - checks when current draw from the motors is unusually high for a certain period of time.
| style="width: 286px;" | On actual pivot/shaft.
| style="width: 286px" | Literally just the speed controllers
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|-
|-
| Arm
| Cargo
| Limit Switch
|  
| Tripped at end of travel/at hard stop on '''front '''of robot
Magnetic Reed Switch
| style="width: 286px;" | Left side A-frame top front&nbsp;
 
| style="width: 147px;" | &nbsp;
Bimba <span style="font-size:13px; color:#000000; font-weight:normal; text-decoration:none; font-family:'Arial'; font-style:normal; text-decoration-skip-ink:none">MRS-.087-PBL-09</span>
 
|  
Sense that Cargo mechanism's cylinders are extended fully and out of way of using hatch mechanism.
 
'''''One on each cylinder'''''
 
| style="width: 286px" | Body band mounted on extended end of cylinder body
| style="width: 147px" | &nbsp;
|-
|-
| Arm
| Elevator
| &nbsp;Limit Switch
|  
| Tripped at end of travel/at hard stop on '''back''' of robot
Encoder
| style="width: 286px;" | Left side A-frame top back&nbsp;
 
| style="width: 147px;" | &nbsp;
VersaPlanetary Integrated Encoder&nbsp;<span style="font-size:small;">217-5046</span>
 
| a way to do vertical positioning
| style="width: 286px" | In the gear box on the motor
| style="width: 147px" | &nbsp;
|-
|-
| Hand on Arm
| Elevator
| Retro-reflective beam sensor
|  
| Sense cube '''all the way into''' hand
Upper Limit - EE-SPY415
| style="width: 286px;" | Mounting is important! Must look "sideways" at the cube where it hits the backstop.
 
| style="width: 147px;" | &nbsp;
| senses when the face of the inner frame when it reaches the top
| style="width: 286px" | Mounted on the upper cross bar of the outer frame
| style="width: 147px" | &nbsp;
|-
|-
| Ramp
| Elevator
| Integrated Versa Planetary Encoder
| Lower Limit - Optek OPB815WZ
| Sense travel and speed of lead screw on lift jacks<br/> One phase
| senses when the flag on the inner frame passes into the U
| style="width: 286px;" | 4 total, 1 on each jack - Sensor should be at output stage of each gearbox
| style="width: 286px" | Sensor on outer frame and flag located on inner frame
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|-
|-
| Ramp
| Habitat
| To be Determined
|  
| Sense when ramp jacks are fully reset (not used during match)
Magnetic Reed Switches Bimba <span style="font-size:13px; color:#000000; font-weight:normal; text-decoration:none; font-family:'Arial'; font-style:normal; text-decoration-skip-ink:none">MRS-.087-PBL-??</span>
| style="width: 286px;" | 4 total, 1 on each jack - ADD MOUNTING DETAILS ONCE SENSOR IS KNOWN
 
| style="width: 147px;" | &nbsp;
|  
Sense cylinder position for front lifter pair.
 
'''One sensor each on extend and retracted ends of a front lift cylinder'''
 
| style="width: 286px" | Band body mounted on one front cylinder. One at extend end and one at retract end.
| style="width: 147px" | &nbsp;
|-
|-
| Drive
| Habitat
| Shaft encoders
|  
| Travel of robot drive base. '''One phase'''
Magnetic Reed Switches Bimba <span style="font-size:13px; color:#000000; font-weight:normal; text-decoration:none; font-family:'Arial'; font-style:normal; text-decoration-skip-ink:none">MRS-.087-PBL-??</span>
| style="width: 286px;" | On center (traction) wheel shaft.
 
| style="width: 147px;" | &nbsp;
|  
Sense cylinder position for rear lifer pair.
 
'''One sensor each on extend end of a back lift cylinder'''
 
| style="width: 286px" | Band body mounted on one front cylinder at extended end.
| style="width: 147px" | &nbsp;
|-
|-
| Whole robot
| Habitat
| Gyro
|  
| Sense rotation
OPB720A-06Z Optek&nbsp; &nbsp;x2
| style="width: 286px;" | '''Must be center of rotation of robot''' away from excessive vibration sources
 
| style="width: 147px;" | &nbsp;
| &nbsp;forwards more, needed for both the front and the back pistons
| style="width: 286px" | <span style="background-color:#c0392b;">working on mount</span>
| style="width: 147px" | &nbsp;
|-
|-
| Whole robot
| Drive
| Camera
|  
|  
Visual feedback for lining up with exchange?
encoders


MS LifeCam HD USB camera
63R256 Grayhill encoder


| style="width: 286px;" | &nbsp;On the back left corner of the robot in the area set aside in cad
| Travel of robot drive base. '''One phase'''
| style="width: 147px;" | &nbsp;
| style="width: 286px" | On idler shaft
| style="width: 147px" | &nbsp;
|-
| Pneumatics
| Analog Pressure Sensor - REV-11-1107
| To evaluate if we have enough air left at the end of the match to actually complete our end game action&nbsp;
| style="width: 286px" | In the pnuematics stuff, on the high side of the regulator
| style="width: 147px" | &nbsp;
|}
|}


</div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div>
</div>


= Archive =
= Archive =
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[[2010:Robot_Design_Details|2010 Robot Design Details]]
[[2010:Robot_Design_Details|2010 Robot Design Details]]


[[2009:Robot_Design_Details|2009 Robot Design Details]]
[[2009:Robot_Design_Details|2009 Robot Design Details]] </div> </div> </div></div>
</div> </div> </div></div>
</div>

Latest revision as of 13:21, 9 March 2019

Overall design decisions, notes, specifications, and integration items here! Integration Task List (NEEDS LINK HERE)

 

Overall Robot Dimensional Restraints

Last updated: 1/9/2019

  Length Width Perimeter
Robot Boundary 34.25" 25"

118.5

Drive Base Materials

Function Material
Perimeter Rail (Long Side) 1"x3"x1/8" 6061 Aluminum Angle Stock
Inner Rail (Long Side) 1"x3"x1/8" 6061 Aluminum Channel Stock
Perimeter Rail (Short Side) TBD

 

Actuators

 

Motors 

Mechanism Action Minimum Breaker Size Motor Model # Quantity Notes
Cargo picks up and deploys the cargo    775 Pro 2 Starting with gear ratio 9:1
Elevator moves the cube and hatch mechanisms up and down   775 Pro 2

gear ratio 16:1

Habitat rotates wheels at rear two pistons   775 Pro 2 gear ratio 49:1
Drive Base Moves the robot  40A CIM 4

Gear ratio 14:68 

option to add two additional motors

option to swap out CIMs to Neos

 
 

Pneumatics 

Mechanism Action - Say what extend and retract do! Number of Cylinders Cylinder

Extend Powered?

 

Extend Exhaust to Atmosphere?

 

Retract Powered?

 

Retract Exhaust to Atmosphere?

 

Working Pressure Estimated Firings per Match Cycles
(Sum of all powered directions!) 		Notes
Hatch Extend = raises the hook
Retract = lowers the hook 		1

 

3/4" Bore, 1" Stroke

Yes Yes Yes  Yes

50 PSI

 36 

Trunnion Front Mount

Cargo 

Extend=Positions Wheels for Pickup

Retract= Moves Wheels Away for Hatch

2

 

 1 1/16" Bore, 7" Stroke

Yes Yes Yes

Yes

50 PSI 6

Magnetic Positioning

Rear Pivot Mount

Worst Case Game

Cylinders share a solenoid

Elevator

Extend = Places elevator in starting config.

Retract = Places elevator in match position

1

 

 1.5" bore  8" stroke

Yes Yes Yes Yes 50 PSI 2

Rear Pivot Mount

Cycles assume we do not do defense

Elevator Brake

Extend = Engage brake

Retract = Disengage brake

1

1 1/4" Bore, 1/4" Stroke 

Yes Yes Yes Yes 50 PSI

 34

Flexible Mount Air Cylinder

Habitat Lift - Robot Front

 

Extend = lifts the robot

Retract = Moves Rods Out of the Way to Allow Robot on Platform

2

1 1/2" bore, 22" stroke

 Yes Yes Yes Yes 50 PSI

2

Magnetic Positioning

Both of these front cylinders share a solenoid

Habitat Lift - Robot Rear

Extend = lifts the robot

Retract = Brings Rods Up Enough To Not Be Supported On Level 1

2

1 1/2" bore, 22" stroke

Yes Yes Yes Yes 50 PSI 2

 

Magnetic Positioning

Both of these rear cylinders share a solenoid

Pneumatics Analysis Spreadsheet:

https://drive.google.com/open?id=1gFQ3QFwumD_wfPq7BhPWqa_nPq6gl0oK 

 

 
 
 
 

Sensor Chart 

Mechanism Sensor Type Function Attachment Point Notes
Hatch

 limit switch

Honeywell SZL-VL-S-B-N-M

to confirm that we have the hatch against the backplate

Side-mount to vertical square tube "back stop" for hatch holder.  Switch arm extends out ~ 1.5" into where disc would be held.  Should be positioned just high enough to miss center hole on all possible disc approach heights for loading station.

 
Hatch/Cargo/Drive

Camera/vision

Microsoft LifeCam HD-3000

 

for driver vision in sandstorm as well as vision lining up with the hatchs/ports mounted on the back outer frame cross piece on the elevator behind the chain and paracord. also is on a servo which will control the angle   
Cargo Talon Speed Controller - NOT ACTUALLY A SENSOR JUST HERE FOR REFERENCE knowing that we have acquired the ball - checks when current draw from the motors is unusually high for a certain period of time. Literally just the speed controllers  
Cargo

Magnetic Reed Switch

Bimba MRS-.087-PBL-09

Sense that Cargo mechanism's cylinders are extended fully and out of way of using hatch mechanism.

One on each cylinder

Body band mounted on extended end of cylinder body  
Elevator

Encoder

VersaPlanetary Integrated Encoder 217-5046

a way to do vertical positioning In the gear box on the motor  
Elevator

Upper Limit - EE-SPY415

senses when the face of the inner frame when it reaches the top Mounted on the upper cross bar of the outer frame  
Elevator Lower Limit - Optek OPB815WZ senses when the flag on the inner frame passes into the U Sensor on outer frame and flag located on inner frame  
Habitat

Magnetic Reed Switches Bimba MRS-.087-PBL-??

Sense cylinder position for front lifter pair.

One sensor each on extend and retracted ends of a front lift cylinder

Band body mounted on one front cylinder. One at extend end and one at retract end.  
Habitat

Magnetic Reed Switches Bimba MRS-.087-PBL-??

Sense cylinder position for rear lifer pair.

One sensor each on extend end of a back lift cylinder

Band body mounted on one front cylinder at extended end.  
Habitat

OPB720A-06Z Optek   x2

 forwards more, needed for both the front and the back pistons working on mount  
Drive

encoders

63R256 Grayhill encoder

Travel of robot drive base. One phase On idler shaft  
Pneumatics Analog Pressure Sensor - REV-11-1107 To evaluate if we have enough air left at the end of the match to actually complete our end game action  In the pnuematics stuff, on the high side of the regulator  

Archive

2018 Robot Design Details

2017 Robot Design Details

2016 Robot Design Details

2015 Robot Design Details

2014 Robot Design Details

2013 Robot Design Details

2012 Robot Design Details

2011 Robot Design Details

2010 Robot Design Details

2009 Robot Design Details

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