2020:Robot Design Details: Difference between revisions

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<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">Overall design decisions, notes, specifications, and integration items here! Integration Task List (NEEDS LINK HERE) <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"><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"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">Overall design decisions, notes, specifications, and integration items here! Integration Task List (NEEDS LINK HERE) <div class="mw-parser-output"><div class="mw-parser-output">
= Overall Robot Dimensional Restraints =
= Overall Robot Dimensional Restraints =


Robot frame dimensions:&nbsp;
*Robot Perimeter = 28" x 31 3/4" (119.5 total length)
*Top of Drive Base: 4.6" (1.6" clearance)
*Top of bumpers = 6.5" (1.5" clearance) - note 6.375 (1.0375)&nbsp;is better for intake if it does not cause problems clearing rendezvous (1.0625" high steel tube).
*Extension of Intake = Approximately 10"
*Clearance at front of robot for intake = 3"
*<s>Hang mechanism in starting position is below shooter wheel</s>
*Please allow minimum .5" to edge of frame perimeter unless design actualy requires less to work/fit.
 
&nbsp;


*Perimeter = 28" x 31 3/4" (119.5 total length)
== Weight of the Robot as of 1/29/2020 ==
*Top of Drive Base: 4.6" (1.6" clearance)
 
*Top of bumpers = 6.5" (1.5" clearance)
Overall robot (including battery, but not electrical)-105.354
 
Drivebase and Battery-37.134
 
Telescoping Arm-9.798
 
Winch-6.975
 
Intake-11.726
 
Storage-8.971
 
Shooter-25.074
 
WoF and Superstructure-5.515


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= Actuators =
= Actuators =
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== Motors (Preliminary pass for quantity check 1/8/2020) ==
== Motors (Preliminary pass for quantity check 1/8/2020) ==
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| 1
| 1
|  
|  
(2) 5:1 Versaplanetary + 2:1 Chain (#35)
<s>(2) 5:1 Versaplanetary</s> + 2:1 Chain (#35)
 
(2) 4:1 (16:1) Versaplanetary


1 Winch, 2 arms
1 Winch, 2 arms


&nbsp;
now 16:1&nbsp;


|-
|-
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| NEO Brushless 550
| NEO Brushless 550
| 1
| 1
| (2) 4:1 Versaplanetary
|  
<s>(2) 4:1 Versaplanetary</s>
 
<s>5:1 + 7:1 (35:1) Versaplanetary</s>
 
5:1 + 5:1 (25:1) Veraplanetary
 
|-
|-
| Storage transition wheel
| Storage transition wheel
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|-
|-
| Shooter
| Shooter
| Spins the prrimer wheel
| Spins the primer wheel
| &nbsp;
| &nbsp;
| NEO Brushless 550
| NEO Brushless 550
| 1
| 1
| (2) 5:1 Versaplanetary
|  
<s>(2) 5:1 Versaplanetary</s>
 
3:1 + 4:1 (12:1) Versaplanetary
 
|-
|-
| Shooter
| Shooter
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| NEO Brushless 550
| NEO Brushless 550
| 1
| 1
| 4:1 + 5:1 VersaPlanetary gearbox
| (2) 4:1 VersaPlanetary gearbox
|-
|-
| &nbsp;
| &nbsp;
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| &nbsp;
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== Pneumatics (NOT USED) ==
== Pneumatics (NOT USED) ==
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= Sensor Chart&nbsp; =
= Sensor Chart&nbsp; =


&nbsp;
&nbsp;


{| border="1" cellpadding="1" cellspacing="1" style="width: 1410px;"
{| border="1" cellpadding="1" cellspacing="1" style="width: 1410px"
|-
|-
! scope="col" style="width: 118px; text-align: left;" |  
! scope="col" style="width: 118px; text-align: left" |  
'''&nbsp; Mechanism'''
'''&nbsp; Mechanism'''


! scope="col" style="width: 92px; text-align: left;" | '''&nbsp; Sensor Type'''
! scope="col" style="width: 92px; text-align: left" | '''&nbsp; Sensor Type'''
! scope="col" style="width: 188px; text-align: left;" | '''&nbsp; Function'''
! scope="col" style="width: 188px; text-align: left" | '''&nbsp; Function'''
! scope="col" style="width: 165px; text-align: left;" | '''&nbsp; Attachment Point'''
! scope="col" style="width: 165px; text-align: left" | '''&nbsp; Attachment Point'''
! scope="col" style="width: 822px; text-align: left;" | '''&nbsp; Notes'''
! scope="col" style="width: 822px; text-align: left" | '''&nbsp; Notes'''
|-
|-
| style="width: 118px;" |  
| style="width: 118px" |  
Intake
Intake


| style="width: 92px;" | Beam Break
| style="width: 92px" | Banner Beam Break
| style="width: 188px;" | Senses incoming power cells
| style="width: 188px" | Senses incoming power cells
| style="width: 165px;" | Intake of helix/storage
| style="width: 165px" | Intake of helix/storage
| style="width: 822px;" |  
| style="width: 822px" |  
Keeps intake and helix running until 5 cells counted?
Keeps intake and helix running until 5 cells counted.


Does this start up the helix agitator when first ball is sensed? Helix can not turn on whenever intake is on or we will force balls into the shooter.
Does this start up the helix agitator when first ball is sensed? Helix can not turn on whenever intake is on or we will force balls into the shooter.


Does this turn off the helix agitator?&nbsp; If not what does?
Does this turn off the helix agitator? Yes&nbsp;


Turns off/lifts/reverses (?) intake and turns off helix agitator (?)when 5 Power Cells are counted or beam stays broken for a fixed period of time?&nbsp; Location critical if it is sensing gaps between balls.
Turns off/lifts/reverses intake and turns off helix agitator when 5 Power Cells are counted or beam stays broken for a fixed period of time&nbsp; Location critical if it is sensing gaps between balls.


|-
|-
| style="width: 118px;" | Storage
| style="width: 118px" | Storage
| style="width: 92px;" | Voltage Sensor?
| style="width: 92px" | Banner Beam Break
| style="width: 188px;" | Make sure we are not jamming&nbsp;?
| style="width: 188px" | Sense balls when ready to shoot
| style="width: 165px;" | &nbsp;
| style="width: 165px" | Top of Helix/ Intake of shooter
| style="width: 822px;" | Dave was talking about this I think in response to a concern that the speed of the agitator wil be critical - it can not go to fast or it jams up the cells.
| style="width: 822px" |  
|-
Senses balls before they hit the shooter intake roller to prevent multiple balls from entering the shooter at once.
| style="width: 118px;" |
Storage/Shooter


| style="width: 92px;" | Rev Color Sensor v3
Count outgoing balls?
| style="width: 188px;" | Senses presence of ready-to-shoot power cells
| style="width: 165px;" | Intake of shooter
| style="width: 822px;" |
This would only work if there are 5 power cells?&nbsp; Need to confirm whether a single power cell will stay at the top of the helix (with another robot hitting it) or we need to use a combination of top and bottom helix sensors to know we have cells in the helix that are at the top or can be spun up to the top?


|-
|-
| style="width: 118px;" | Storage/Shooter
| style="width: 118px" |  
| style="width: 92px;" | &nbsp;?
Storage/Shooter
| style="width: 188px;" | &nbsp;
| style="width: 165px;" |
&nbsp;


&nbsp;
| style="width: 92px" | Banner Beam Break
| style="width: 188px" | Senses presence of ready-to-shoot power cells
| style="width: 165px" | Inside shooter
| style="width: 822px" |
Sense when a ball that is inside the shooter so we can stop the intake of the shooter to let the shooter flywheel get back to speed after shooting ball.


| style="width: 822px;" | Needs to be able to turn on/off storage/shooter transition wheel to keep cells from entering shooter between shots
|-
|-
| style="width: 118px;" |  
| style="width: 118px" |  
Shooter
Shooter


| style="width: 92px;" | &nbsp;?
| style="width: 92px" | &nbsp;Integrated NEO Encoder
| style="width: 188px;" | &nbsp;
| style="width: 188px" | Shooter wheel speed
| style="width: 165px;" | &nbsp;
| style="width: 165px" | &nbsp;
| style="width: 822px;" | &nbsp;
| style="width: 822px" | &nbsp;
|-
|-
| style="width: 118px;" |  
| style="width: 118px" |  
Hang
Hang


| style="width: 92px;" |  
| style="width: 92px" |  
Encoder?
Integrated NEO Encoder


?
| style="width: 188px" | Tells arms how high to raise, how far to retract, deploys hooks
| style="width: 165px" | &nbsp;
| style="width: 822px" |
Need to figure out how to zero it


| style="width: 188px;" | Tells arms how high to raise
22 degrees rotation to be able to release pawl
| style="width: 165px;" | &nbsp;
| style="width: 822px;" | Do we need to lbe able ot adjust how high it goes (highest, less than highest when we someone if hanging at an end and we want to go in the middle)?&nbsp; Or are we always going highest?
|-
| style="width: 118px;" |
Hang


| style="width: 92px;" |
Encoder?
?
| style="width: 188px;" | Tells arms how far to retract
| style="width: 165px;" | &nbsp;
| style="width: 822px;" | Is there only ever on set retraction?
|-
|-
| style="width: 118px;" |
| style="width: 118px" |  
Hang
 
| style="width: 92px;" | Proximity sensor?&nbsp;
| style="width: 188px;" | Tells when each stage of arm is fully deployed&nbsp;
| style="width: 165px;" | &nbsp;
| style="width: 822px;" | Backup to hard stop?
|-
| style="width: 118px;" |
Wheel of Fortune
 
| style="width: 92px;" | Encoder
| style="width: 188px;" | Counts the number of wheel turns
| style="width: 165px;" | In gearbox
| style="width: 822px;" | Stops motor?&nbsp; Will wheel continue to spin?
|-
| style="width: 118px;" |  
Wheel of Fortune
Wheel of Fortune


| style="width: 92px;" | Color Sensor
| style="width: 92px" | Color Sensor
| style="width: 188px;" | Reads color on wheel
| style="width: 188px" | Reads color on wheel&nbsp;
| style="width: 165px;" | &nbsp;
| style="width: 165px" | Bracket attatched on spinner gear box
| style="width: 822px;" | Stops motor when correct color is read?
| style="width: 822px" | Stops motor when correct color is read. Counts segments for rotation control.
|-
|-
| style="width: 118px;" |  
| style="width: 118px" |  
Drive Base
Drive Base


| style="width: 92px;" | Encoder?
| style="width: 92px" | Encoder
| style="width: 188px;" | &nbsp;
| style="width: 188px" | Measures center of drive base
| style="width: 165px;" | &nbsp;
| style="width: 165px" | hex axle on the center wheel
| style="width: 822px;" | &nbsp;
| style="width: 822px" | &nbsp;
|-
|-
| style="width: 118px;" |  
| style="width: 118px" |  
Intake (Rotation)
Intake (Rotation)


| style="width: 92px;" |  
| style="width: 92px" |  
Encoder?
Integrated NEO Encoder


Limit Switch
| style="width: 188px" | Limits how far intake comes into the robot frame
 
| style="width: 165px" | &nbsp;
| style="width: 188px;" | Limits how far intake comes into the robot frame
| style="width: 822px" | Will need hard stop back up
| style="width: 165px;" | &nbsp;
|-
| style="width: 822px;" | Will need hard stop back up
| style="width: 118px" | Intake (Rotation)
| style="width: 92px" | Omron EE-SPY415 Sensor
| style="width: 188px" | Zeros the encoder
| style="width: 165px" | On the left intake mounting bracket. Sensor bracket pending approval.
| style="width: 822px" | Tested on test board, works at identifying smoked lexan. The range is low enough so that it won't sense the helix which is ~8in ahead of it.
|-
| style="width: 118px" | Shooter
| style="width: 92px" | Limelight 2
| style="width: 188px" | Aim assist
| style="width: 165px" | Behind hood on shooter
| style="width: 822px" | Needs ethernet connection to robot as well as power (either 12v PoE or 5A PDP connection)
|-
| style="width: 118px" | General purpose
| style="width: 92px" | Microsoft Lifecam HD-3000
| style="width: 188px" | Driver aid
| style="width: 165px" | On top of helix on shooter base plate
| style="width: 822px" | Needs USB connection. Can be connected to Limelight or rio
|-
| style="width: 118px" | Drive Train
| style="width: 92px" | Gyroscope
| style="width: 188px" | Autonomous turning
| style="width: 165px" | Near center of rotation
| style="width: 822px" | &nbsp;
|-
| style="width: 118px" | Shooter
| style="width: 92px" | Flashlight
| style="width: 188px" | Aim assist
| style="width: 165px" | Next to limelight
| style="width: 822px" | &nbsp;
|}
|}
 
</div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div>
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= 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]]</div> </div> </div> </div> </div>
[[2009:Robot_Design_Details|2009 Robot Design Details]] </div> </div> </div>
</div> </div> </div> </div> </div> </div>
</div>
</div>

Latest revision as of 12:45, 7 March 2020

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

Overall Robot Dimensional Restraints

  • Robot Perimeter = 28" x 31 3/4" (119.5 total length)
  • Top of Drive Base: 4.6" (1.6" clearance)
  • Top of bumpers = 6.5" (1.5" clearance) - note 6.375 (1.0375) is better for intake if it does not cause problems clearing rendezvous (1.0625" high steel tube).
  • Extension of Intake = Approximately 10"
  • Clearance at front of robot for intake = 3"
  • Hang mechanism in starting position is below shooter wheel
  • Please allow minimum .5" to edge of frame perimeter unless design actualy requires less to work/fit.

 

Weight of the Robot as of 1/29/2020

Overall robot (including battery, but not electrical)-105.354

Drivebase and Battery-37.134

Telescoping Arm-9.798

Winch-6.975

Intake-11.726

Storage-8.971

Shooter-25.074

WoF and Superstructure-5.515

 

 

 

Actuators

Motors (Preliminary pass for quantity check 1/8/2020)

Mechanism Action Minimum Breaker Size Motor Model # Quantity Notes
Drive Base moves the robot on the field   Neo Brushless 4 11:80 gear ratio
Hang runs the winch to pull the robot up   Neo Brushless 1

(2) 5:1 Versaplanetary + 2:1 Chain (#35)

(2) 4:1 (16:1) Versaplanetary

1 Winch, 2 arms

now 16:1 

Intake Pivots intake in and out of the robot   Neo Brushless 550 1

(2) 10:1 VersaPlanetary + 2:1 belt

pullys 18T: 36T

Intake Spins the "beater bar(s)"   NEO Brushless 550 1 7:1 Versaplanetary
Storage Agitates the balls and moves them up to the shooter   NEO Brushless 550 1

(2) 4:1 Versaplanetary

5:1 + 7:1 (35:1) Versaplanetary

5:1 + 5:1 (25:1) Veraplanetary

Storage transition wheel Feeds balls into shooter   NEO Brushless 550 1 7:1 Versaplanetary
Shooter Spins the primer wheel   NEO Brushless 550 1

(2) 5:1 Versaplanetary

3:1 + 4:1 (12:1) Versaplanetary

Shooter Spins the shooting wheel axle   Neo Brushless 2

2:1 Pulley

Shooter  Future Turret   Neo Brushless 550 1 (2) 7:1 Versaplanetary, 18:178 belt
Wheel of Fortune Spins the wheel to turn the colored wheel   NEO Brushless 550 1 (2) 4:1 VersaPlanetary gearbox
        14  
 

Pneumatics (NOT USED)

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
Powerful Puncher! Extend = extends puncher to punch the wall
Retract = pull puncher back in 		1

 

3" Bore, 8" Stroke

Yes Yes Yes  Yes

95 PSI

 36   

 

 
 

Sensor Chart 

 

  Mechanism

  Sensor Type   Function   Attachment Point   Notes

Intake

Banner Beam Break Senses incoming power cells Intake of helix/storage

Keeps intake and helix running until 5 cells counted.

Does this start up the helix agitator when first ball is sensed? Helix can not turn on whenever intake is on or we will force balls into the shooter.

Does this turn off the helix agitator? Yes 

Turns off/lifts/reverses intake and turns off helix agitator when 5 Power Cells are counted or beam stays broken for a fixed period of time  Location critical if it is sensing gaps between balls.

Storage Banner Beam Break Sense balls when ready to shoot Top of Helix/ Intake of shooter

Senses balls before they hit the shooter intake roller to prevent multiple balls from entering the shooter at once.

Count outgoing balls?

Storage/Shooter

Banner Beam Break Senses presence of ready-to-shoot power cells Inside shooter

Sense when a ball that is inside the shooter so we can stop the intake of the shooter to let the shooter flywheel get back to speed after shooting ball.

Shooter

 Integrated NEO Encoder Shooter wheel speed    

Hang

Integrated NEO Encoder

Tells arms how high to raise, how far to retract, deploys hooks  

Need to figure out how to zero it

22 degrees rotation to be able to release pawl

Wheel of Fortune

Color Sensor Reads color on wheel  Bracket attatched on spinner gear box Stops motor when correct color is read. Counts segments for rotation control.

Drive Base

Encoder Measures center of drive base hex axle on the center wheel  

Intake (Rotation)

Integrated NEO Encoder

Limits how far intake comes into the robot frame   Will need hard stop back up
Intake (Rotation) Omron EE-SPY415 Sensor Zeros the encoder On the left intake mounting bracket. Sensor bracket pending approval. Tested on test board, works at identifying smoked lexan. The range is low enough so that it won't sense the helix which is ~8in ahead of it.
Shooter Limelight 2 Aim assist Behind hood on shooter Needs ethernet connection to robot as well as power (either 12v PoE or 5A PDP connection)
General purpose Microsoft Lifecam HD-3000 Driver aid On top of helix on shooter base plate Needs USB connection. Can be connected to Limelight or rio
Drive Train Gyroscope Autonomous turning Near center of rotation  
Shooter Flashlight Aim assist Next to limelight  

Archive

2019 Robot Design Details

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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