2009:Robot Design Details: Difference between revisions
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*4 2.5" CIM motors | *4 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> | ||
*Banebots encoders on each wheel (http://banebots.com/pc/ELECTRONICS/EN-G0561-KT) -- mounted at transmission outputs. | *Banebots encoders on each wheel (http://banebots.com/pc/ELECTRONICS/EN-G0561-KT) -- mounted at transmission outputs. | ||
*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”) | ||
*Still need to determine a few hardware items but I think we could use a few PEM fasteners to further minimize fastener system weight | *Still need to determine a few hardware items but I think we could use a few PEM fasteners to further minimize fastener system weight | ||
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*Need to design in provisions for front “dummy wheels” biased 1/8” up for roll over protection | *Need to design in provisions for front “dummy wheels” biased 1/8” up for roll over protection | ||
<br> | <br> | ||
[[Image:Drivetrain 01-08-2009.jpg|Current Drivetrain design as of 01/08/2009]]<br> | [[Image:Drivetrain 01-08-2009.jpg|Current Drivetrain design as of 01/08/2009]]<br> | ||
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== Lower Ball Collector == | == Lower Ball Collector == | ||
Revision as of 12:36, 12 January 2009
Main Robot Design
General layout design of the robot, Dimensions ARE NOT exact.
Drivetrain
- 4-wheel drive
- Banebots Transmissions
- 4 2.5" CIM motors
- Victor 884 [Drive] Speed Controllers
- Fixed wheels (slip-style steering)
- Banebots encoders on each wheel (http://banebots.com/pc/ELECTRONICS/EN-G0561-KT) -- mounted at transmission outputs.
- 27.25” LONG x 37.25” WIDE
- Rear wheel axis at 5.625 from most rear surfaces (adjustable down to 4.625 corner brace regime permitting)
- Front wheel axis at 11.625 from front most surfaces (adjustable ± 2.00”)
- Still need to determine a few hardware items but I think we could use a few PEM fasteners to further minimize fastener system weight
- We will need to design a few spacers “on the fly” as we determine the best approach while building
- The 6-hole patterns in the wheels need to be tapped for 10-32 Depth TBD
- 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)
- Need to cut necessary smaller frame elements from stock
- Need to design in provisions for front “dummy wheels” biased 1/8” up for roll over protection
Lower Ball Collector
- Is now part of the front conveyor
Ball Hopper
- Open top entry for human player introduction
- 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.
- Trap door and Lower collection blocker powered by Nippon Denso Window motor (possibly a rack & pinion arrangement?)
- Two Limit Switches sensors to tell when door is in open/closed position
- Jaguar speed controller
Ball Conveyor
- 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.
- Powered by two independent motors (RS-545 Banebots motors with 25:1 reduction gearboxes)
- XXX sensor to detect ball "ready to shoot" at the top of the conveyor.
- Jaguar speed controller
- Sensor to detect that conveyor is full
Upper Ball Ejector
- 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 AndyMark 67:1 Gearbox added
- Jaguar speed controller
