2022:Robot Design Details: Difference between revisions

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= Overall Robot Dimensional Restraints =
= 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)&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;
== 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
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= Actuators =
= Actuators =
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== Motors ==
== Motors (Preliminary pass for quantity check 1/8/2020) ==
 
{| border="1" cellpadding="10" cellspacing="1"
{| border="1" cellpadding="10" cellspacing="1"
|-
|-
|'''Location'''
| '''Mechanism'''
| '''Mechanism'''
| '''Action'''
| '''Action'''
| '''''Minimum'' Breaker Size'''
| '''Motor Model #'''
| '''Quantity'''
| '''Quantity'''
| '''Notes'''
| '''Belt Size'''
| '''Gear Size and Ratio'''
| '''Pulley Size and Ratio'''
|'''Notes'''
|-
|-
| Drive Base
|Drive Base
| moves the robot on the field
| Neo
| &nbsp;
| Drives Robot
| Neo Brushless
| 4
| 4
| 11:80 gear ratio
| NA
| 5.25:1 (12-21, 15-45)
| NA
|
|-
|-
| Hang
|Drive Base
| runs the winch to pull the robot up
| Neo 550
| &nbsp;
| Turns Robot
| Neo Brushless
| 4
| 1
| NA
|  
| 12:1 (3:1 and 4:1)
<s>(2) 5:1 Versaplanetary</s> + 2:1 Chain (#35)
| NA
 
|
(2) 4:1 (16:1) Versaplanetary
 
1 Winch, 2 arms
 
now 16:1&nbsp;
 
|-
|-
| Intake
|Intake
| Pivots intake in and out of the robot
| Neo 550
| &nbsp;
| Stage 1 Motor
| Neo Brushless 550
| 1
| 1
|  
| 45T at motor, 107T pivot to bar 1, 104T bar 1 to bar 2
(2) 10:1 VersaPlanetary + 2:1 belt
| 1:4
 
| 18T 1:1
pullys 18T:&nbsp;36T
|Cut motor shaft
 
|-
| Intake
| Spins the "beater bar(s)"
| &nbsp;
| NEO Brushless 550
| 1
| 7:1 Versaplanetary
|-
|-
| Storage
|Preshooter
| Agitates the balls and moves them up to the shooter
| Neo 550
| &nbsp;
| Stage 2 Motor
| NEO Brushless 550
|1
| 1
|  
|  
<s>(2) 4:1 Versaplanetary</s>
| 1:4
 
<s>5:1 + 7:1 (35:1) Versaplanetary</s>
 
5:1 + 5:1 (25:1) Veraplanetary
 
|-
| Storage transition wheel
| Feeds balls into shooter
| &nbsp;
| NEO Brushless 550
| 1
| 7:1 Versaplanetary
|-
| Shooter
| Spins the primer wheel
| &nbsp;
| NEO Brushless 550
| 1
|  
|  
<s>(2) 5:1 Versaplanetary</s>
|Requires extended motor shaft
 
3:1 + 4:1 (12:1) Versaplanetary
 
|-
|-
| Shooter
|Shooter
| Spins the shooting wheel axle
|Neo
| &nbsp;
|Left and Right Fly Wheels
| Neo Brushless
|2
| 2
|
|
|
2:1 Pulley
|
 
|
|-
| Shooter&nbsp;
| Future Turret
| &nbsp;
| Neo Brushless 550
| 1
| (2) 7:1 Versaplanetary, 18:178 belt
|-
| Wheel of Fortune
| Spins the wheel to turn the colored wheel
| &nbsp;
| NEO Brushless 550
| 1
| (2) 4:1 VersaPlanetary gearbox
|-
|-
| &nbsp;
|Shooter
| &nbsp;
|goBilda 2000-0025-0002
| &nbsp;
|Hood Articulation
| &nbsp;
|1
| 14
|
| &nbsp;
|4:3 for servo to mid-gear and then 9:181 for mid gear to hood.
|
|
|}
|}
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== Pneumatics (NOT USED) ==
== Pneumatics ==


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| '''Notes'''
| '''Notes'''
|-
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| Powerful Puncher!
| Extend = extends puncher to punch the wall<br/> Retract = pull puncher back in
| style="width: 42px" | 1
| style="width: 74px" |
&nbsp;
3" Bore, 8" Stroke
| Yes
| Yes
| Yes&nbsp;
| Yes
|  
|  
95 PSI
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= Sensor Chart&nbsp; =


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


! scope="col" style="width: 92px; text-align: left" | '''&nbsp; Sensor Type'''
{| border="1" cellpadding="10" cellspacing="1" style="width: 1236px"
! 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: 822px; text-align: left" | '''&nbsp; Notes'''
|-
|-
| style="width: 118px" |
| '''Mechanism'''
Intake
| '''Sensor Type'''
 
| '''Function'''
| style="width: 92px" | Banner Beam Break
| style="width: 286px" | '''Attachment Point'''
| style="width: 188px" | Senses incoming power cells
| style="width: 147px" | '''Notes'''
| style="width: 165px" | Intake of helix/storage
| style="width: 822px" |  
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&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.
 
|-
|-
| style="width: 118px" | Storage
|  
| style="width: 92px" | Banner Beam Break
|  
| style="width: 188px" | Sense balls when ready to shoot
|  
| style="width: 165px" | Top of Helix/ Intake of shooter
|  
| style="width: 822px" |
|  
Senses balls before they hit the shooter intake roller to prevent multiple balls from entering the shooter at once.
 
Count outgoing balls?
 
|-
|-
| style="width: 118px" |  
|  
Storage/Shooter
|  
 
|  
| 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: 118px" |
|  
Shooter
|  
 
|  
| style="width: 92px" | &nbsp;Integrated NEO Encoder
|  
| style="width: 188px" | Shooter wheel speed
|  
| style="width: 165px" | &nbsp;
| style="width: 822px" | &nbsp;
|-
|-
| style="width: 118px" |
|  
Hang
|  
 
|  
| style="width: 92px" |  
|  
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
 
22 degrees rotation to be able to release pawl
 
|-
|-
| style="width: 118px" |
|  
Wheel of Fortune
|  
 
|  
| style="width: 92px" | Color Sensor
|  
| style="width: 188px" | Reads color on wheel&nbsp;
|  
| style="width: 165px" | Bracket attatched on spinner gear box
| style="width: 822px" | Stops motor when correct color is read. Counts segments for rotation control.
|-
|-
| style="width: 118px" |
|  
Drive Base
|  
 
|  
| style="width: 92px" | Encoder
|  
| style="width: 188px" | Measures center of drive base
|  
| style="width: 165px" | hex axle on the center wheel
| style="width: 822px" | &nbsp;
|-
|-
| style="width: 118px" |  
|  
Intake (Rotation)
|  
 
|  
| style="width: 92px" |  
|  
Integrated NEO Encoder
|  
 
| style="width: 188px" | Limits how far intake comes into the robot frame
| 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>
 
</div> </div> </div> </div> </div> </div>          
 
= 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>

Latest revision as of 14:25, 9 February 2022

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

Overall Robot Dimensional Restraints

Actuators

Motors

Location Mechanism Action Quantity Belt Size Gear Size and Ratio Pulley Size and Ratio Notes
Drive Base Neo Drives Robot 4 NA 5.25:1 (12-21, 15-45) NA
Drive Base Neo 550 Turns Robot 4 NA 12:1 (3:1 and 4:1) NA
Intake Neo 550 Stage 1 Motor 1 45T at motor, 107T pivot to bar 1, 104T bar 1 to bar 2 1:4 18T 1:1 Cut motor shaft
Preshooter Neo 550 Stage 2 Motor 1 1:4 Requires extended motor shaft
Shooter Neo Left and Right Fly Wheels 2
Shooter goBilda 2000-0025-0002 Hood Articulation 1 4:3 for servo to mid-gear and then 9:181 for mid gear to hood.
 
 

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


 
 
 
 

Sensor Chart

Mechanism Sensor Type Function Attachment Point Notes

Archive

2020 Robot Design Details (applies to 2021 as well)

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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