2019:Robot Design Details: Difference between revisions

From 1511Wookiee
Jump to navigationJump to search
No edit summary
No edit summary
Line 297: Line 297:
<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">&nbsp;</div> </div> </div> </div> </div> </div></div></div></div></div> <div class="mw-parser-output">&nbsp;</div> </div>
<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">&nbsp;</div> </div> </div> </div> </div> </div></div></div></div></div> <div class="mw-parser-output">&nbsp;</div> </div>


<div class="mw-parser-output">
= Sensor Chart&nbsp; =
= Sensor Chart&nbsp; =


{| border="1" cellpadding="10" cellspacing="1" style="width: 1236px;"
{| style="width: 1236px" cellspacing="1" cellpadding="10" border="1"
|-
|-
| '''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'''
|-
|-
| Hatch
| Hatch
| &nbsp;limit switch
|  
&nbsp;limit switch
 
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
| to confirm that we have the hatch against the backplate
| style="width: 286px;" | &nbsp;
| 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;
| style="width: 147px" | &nbsp;
|-
|-
| Hatch/Cargo
| Hatch/Cargo
| Camera/vision (in progress)
|  
Camera/vision
 
<span style="background-color:#c0392b">(Still work in progress!)</span>
 
| knowing that we are aligned with the port
| knowing that we are aligned with the port
| style="width: 286px;" | &nbsp;
| style="width: 286px" | &nbsp;
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|-
|-
| Cargo
| Cargo
| Beam Break
|  
Beam Break
 
Banner Q106
 
| knowing that we have acquired the ball
| knowing that we have acquired the ball
| style="width: 286px;" | &nbsp;
| style="width: 286px" | <span style="background-color:#c0392b">(Please supply mount location)</span>
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|-
| Cargo
|
Magnetic Reed Switch
 
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;
|-
|-
| Elevator
| Elevator
| Encoder (in progress)
|  
Encoder
 
<span style="background-color:#c0392b">(Still work in progress!)</span>
 
| a way to do vertical positioning
| a way to do vertical positioning
| style="width: 286px;" | &nbsp;
| style="width: 286px" | &nbsp;
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|-
|-
| Elevator
| Elevator
| Limits for both top and bottom ends
|  
Limits for both top and bottom ends
 
<span style="background-color:#c0392b">(Still work in progress!)</span>
 
| so our encoder has a way to know where its starting and stopping and also so we don't break the elevator cause that'd be nice
| so our encoder has a way to know where its starting and stopping and also so we don't break the elevator cause that'd be nice
| style="width: 286px;" | &nbsp;
| style="width: 286px" | &nbsp;
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|-
|-
| Elevator
| Elevator
| ?? (in progress)
|  
&nbsp;??
 
<span style="background-color:#c0392b">(Still work in progress!)</span>
 
| sensors for some specific heights, potentially the three cargo levels, since there could be some stretch in the paracord&nbsp;
| sensors for some specific heights, potentially the three cargo levels, since there could be some stretch in the paracord&nbsp;
| style="width: 286px;" | &nbsp;
| style="width: 286px" | &nbsp;
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|-
|-
| Habitat
| Habitat
| ?? (in progress)
|  
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>
|
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;
|-
| Habitat
|
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>
|
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;
|-
| Habitat
|
&nbsp;??
 
<span style="background-color:#c0392b">(Still work in progress!)</span>
 
| sensing when cylinders are close to the platform so we dont bend them
| sensing when cylinders are close to the platform so we dont bend them
| style="width: 286px;" | &nbsp;
| style="width: 286px" | &nbsp;
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|-
|-
| Drive
| Drive
| encoders
|  
encoders
 
<span style="background-color:#c0392b">(Please supply part #)</span>
 
| Travel of robot drive base. '''One phase'''
| Travel of robot drive base. '''One phase'''
| style="width: 286px;" | On idler shaft
| style="width: 286px" | On idler shaft
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|-
|-
| Whole robot
| Whole robot
| gyro
|  
gyro
 
<span style="background-color:#c0392b">(Please supply part #)</span>
 
| Sense rotation
| Sense rotation
| style="width: 286px;" | '''Must be center of rotation of robot''' away from excessive vibration sources
| style="width: 286px" | '''Must be center of rotation of robot''' away from excessive vibration sources
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|-
|-
| Whole robot
| Whole robot
| Camera (in progress)
|  
Camera
 
<span style="background-color:#c0392b">(Still work in progress!)</span>
 
|  
|  
Lining up the cargo and the hatch panels, and driving durning sandstorm&nbsp;
Lining up the cargo and the hatch panels, and driving durning sandstorm&nbsp;


| style="width: 286px;" | &nbsp;
| style="width: 286px" | &nbsp;
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|}
|}


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


Revision as of 11:38, 22 January 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

THE FOLLOWING TABLES ARE COPIES OF 2018's TABLES AND HAVE BEEN LEFT FOR ILLUSTRATION ONLY - DO NOT USE FOR 2019! Please delete the above note and replace content of the tables below with 2019-relevant information once available.

Motors 

Mechanism Action Minimum Breaker Size Motor Model # Quantity Notes
Cargo picks up and deploys the cargo    775 Pro 2 Starting with gear ratio 12:1
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

 

Habitat Lift - Robot Front

 

Extend = lifts the robot

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

2

1 1/4" 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 1/4" 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

Camera/vision

(Still work in progress!)

knowing that we are aligned with the port    
Cargo

Beam Break

Banner Q106

knowing that we have acquired the ball (Please supply mount location)  
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

(Still work in progress!)

a way to do vertical positioning    
Elevator

Limits for both top and bottom ends

(Still work in progress!)

so our encoder has a way to know where its starting and stopping and also so we don't break the elevator cause that'd be nice    
Elevator

 ??

(Still work in progress!)

sensors for some specific heights, potentially the three cargo levels, since there could be some stretch in the paracord     
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

 ??

(Still work in progress!)

sensing when cylinders are close to the platform so we dont bend them    
Drive

encoders

(Please supply part #)

Travel of robot drive base. One phase On idler shaft  
Whole robot

gyro

(Please supply part #)

Sense rotation Must be center of rotation of robot away from excessive vibration sources  
Whole robot

Camera

(Still work in progress!)

Lining up the cargo and the hatch panels, and driving durning sandstorm 

   

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

Retrieved from "https://wiki.penfieldrobotics.com/wiki/index.php?title=2019:Robot_Design_Details&oldid=9996"