Revision as of 16:45, 10 January 2015

Integration Task List[1]

Preliminary Design

Preliminary design after January 8th Design Sessions

-Drivetrain - 4" Omni "Slide" AKA H-Drive

-Collectors to prototype

-Stationary Beater Bar
-Actuator Beater Bar and Wings
-Hungry Hungry Hippos
-U Shaped Brush

-Bridge Actuators to prototype

-Actuator also acts as collector
-actuator is seperate from collector

-Storage will be 3 stage

-Shooter will be a turret

-Spinning wheels to shoot
-Need backspin on ball
-Variable Speed
-Variable angle (could be speed)
-Need to shoot over 60ft.

Overall:

The robot should be able to pick up and place containers top of 5 high stacks
The robot must be able to do coopertition stacks
The robot should be able to grab 2 high stacks from the human playe
The robot should be able to raise the RC to allow the HP to put litter in it
All designs need to be robust so that time spent fixing the robot is to a minimum especially due to the fact that there will be no bumpers.
All parts should be easily serviced if needed.

Gripper:

Lifter:

Must be able to Lift 6 totes high
Lift RC on top of a 5 tote stack in 5 sec
Must support the stack with an actuated "stabilizer" and be able to drive over bumps without dropping totes or RCs
Must have no/reduced backdrive
Must be able to release stacks in 1.5 sec

RC Puller:

Must be able to pull RCs from the Step over the lanfill totes.
Must be retractable so that it can be retracted back into the robot after the RCs are pulled
Must be able to pull an RC completely to our side of the field in 7 seconds or less.
Should have an auto program that takes advantage of the RC puller.

Drivetrain:

Must be able to easily transverse the scoring platform and strafe sidewards and diagonally.
Max Drivetrain speed should be 12.04ft/s.
Drivetrain must have slow mode (shifters) for fine control on bridges and barriers.
Should weigh 38lbs or less
Picture of drive-train

@@ Line 32: / Line 32: @@
 '''Overall:'''
-*Time from collection to shooting should be less than 2 seconds.
+*The robot should be able to pick up and place containers top of 5 high stacks
-*The direction that the balls leave the robot must be opposite from the side of the robot that collects the balls.
+*The robot must be able to do coopertition stacks
+*The robot should be able to grab 2 high stacks from the human playe
+*The robot should be able to raise the RC to allow the HP to put litter in it
 *All designs need to be robust so that time spent fixing the robot is to a minimum especially due to the fact that there will be no bumpers.
 *All parts should be easily serviced if needed.
@@ Line 50: / Line 52: @@
 *Must be able to Lift 6 totes high
-*
+*Lift RC on top of a 5 tote stack in 5 sec
+*Must support the stack with an actuated "stabilizer" and be able to drive over bumps without dropping totes or RCs
+*Must have no/reduced backdrive
+*Must be able to release stacks in 1.5 sec
-'''Collector:'''
-*Must be able to be turned off and on quickly.
-*Must be able to pick up balls that are located on the wall of the court easily.
-*Must be able to pick up a ball when in contact with the collector and immediately (&lt;0.2 seconds) pass it to the storage system.
 '''RC Puller:'''