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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= Actuators = | = Actuators = | ||
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== Motors == | == Motors == | ||
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| 775 Pro | | 775 Pro | ||
| 2 | | 2 | ||
| Starting with gear ratio | | Starting with gear ratio 9:1 | ||
|- | |- | ||
| Elevator | | Elevator | ||
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|} | |} | ||
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== Pneumatics == | == Pneumatics == | ||
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|- | |- | ||
| '''Mechanism''' | | '''Mechanism''' | ||
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Flexible Mount Air Cylinder | |||
|- | |- | ||
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| style="width: 42px" | 2 | | style="width: 42px" | 2 | ||
| style="width: 74px" | | | style="width: 74px" | | ||
1 1/ | 1 1/2" bore, 22" stroke | ||
| Yes | | Yes | ||
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| style="width: 42px" | 2 | | style="width: 42px" | 2 | ||
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1 1/ | 1 1/2" bore, 22" stroke | ||
| Yes | | Yes | ||
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= Sensor Chart = | = Sensor Chart = | ||
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|- | |- | ||
| Hatch/Cargo | | Hatch/Cargo/Drive | ||
| | | | ||
Camera/vision | Camera/vision | ||
Microsoft LifeCam HD-3000 | |||
| |||
| | | for driver vision in sandstorm as well as vision lining up with the hatchs/ports | ||
| style="width: 286px" | | | 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 | ||
| style="width: 147px" | | | style="width: 147px" | | ||
|- | |- | ||
| Cargo | | 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. | |||
| style="width: 286px" | Literally just the speed controllers | |||
| knowing that we have acquired the ball | |||
| style="width: 286px" | | |||
| style="width: 147px" | | | style="width: 147px" | | ||
|- | |- | ||
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| Habitat | | Habitat | ||
| | | | ||
| OPB720A-06Z Optek x2 | ||
| forwards more, needed for both the front and the back pistons | |||
| style="width: 286px" | <span style="background-color:#c0392b;">working on mount</span> | |||
| | |||
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| style="width: 147px" | | | style="width: 147px" | | ||
|- | |- | ||
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| 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" | | | style="width: 147px" | | ||
|- | |- | ||
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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 14:21, 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 |