2011:2/5/2011: Difference between revisions

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(New page: Drivetrain Still waiting on spacers. Need to adjust chains. Bumpers need to be done also. <br>Arm/Manipulator Got 2 boxes of sheet metal parts in. Need to cut down stock for legs and fi...)
 
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Drivetrain
'''Drivetrain'''


Still waiting on spacers. Need to adjust chains. Bumpers need to be done also.
Fixed chains and spacers. Painted brackets. Still need to do bumpers. Also need to modify the cart to fit the drive base.  


<br>Arm/Manipulator
<br>'''Arm/Manipulator'''


Got 2 boxes of sheet metal parts in. Need to cut down stock for legs and figure out a couple of sensor mounts. Lightening holes need to be put in the arm. Working on where to mount the minibot deployer and the tusks tonight. Some banner sensors need to go on the manipulator, and travel sensors on the arm. Sprocket guard will be designed after assembly - need to see where hands will need to reach etc., but need to guard the pinch point. (Probably a Lexan part will be sufficient.)
Working on deploying arm from "park" to fully extended. The "elbow" joint will have a notch that hooks onto a small horizontal peg on the robot frame when the arm's in park; when the arm is moved, the notch will rotate off the peg and the arm can then lock. Wires will need to run on the inside of the elbow joint. Testing needs to be done to see whether the manipulator will whack into the ground when the arm extends, and if so, how hard (will it knock the ubertube loose?). Parts for the arm and tower are in, except for the new notch-and-peg. Assembly will start today! <br>


<br>Minibot/Deployer
<br>'''Minibot/Deployer'''


IDW'ing in CAD the last parts that need to be made in the shop. Prototyping a new tower finder instead of tusks: a vertical plate with a "V" notch at the top, which sits in front of the minibot during the match to protect it, and then flips down to act as a tower finder with the "V" notch in the last few seconds.
There will be two square frames with sliders inside them. Three gas shocks inside each frame will extend to push the sliders out; the longest shock will extend in two seconds, so that is the total time for deployment. Minibot frame is assembled. Total weight will be under 5 pounds (hasn't had lightening done yet). Minibot should be assembled and ready to test this weekend!<br>


<br>Electrical Main
<br>'''Electrical Main'''


Have battery box almost finalized, need to check with Mechanical mentors to make sure it's OK. Need to get corrugated plastic at Home Depot. Waiting to see if "tusks" are being used or not, before determining the placement of some panels. (They may be mounted on the inside of the legs, connected to 2" spacers, covered with protective Lexan on the outside.) Still waiting for banner sensors, but have the LED's and will test them.
Need to start looking at where the wiring for the arm goes, and what protection it needs. Have prototyped the signal lights. Drop tray has been laminated, and other pieces are in progress. Need to work with Mechanical for weight distribution. Mechanical will need to add a mounting bracket in the center of the frame for attaching the signal lights.<br>


<br>Electrical Controls
<br>'''Electrical Controls'''


Design layout is done. Working on wiring schematic. Got new buttons and keypad.
Wiring up toggle switches. Everything has been worked out with Programming. Haven't worked on the keypad yet. There needs to be a protective cover for the controls, at least for shipping. Might put wheels on one end so the control board can be wheeled like a suitcase, or might connect it to a Harris backpack for carrying.<br>


<br>Programming
<br>'''Programming'''


Got controls layout to Alex - should have code coming soon. Andy should test drivetrain code tonight if drivetrain's available, otherwise tomorrow. Programming needs from Electrical for testing: a gyro on the robot mock board, and to be sure that the encoders are correct.<br>
Working with drivetrain currently, it works fine in teleoperated. Testing with autonomous, the gyro works now. Line-following procedure is done. Will try to simulate the arm with Thunderplucker. Need to get line-following sensors spaced differently - Drivetrain subteam will need to make an appropriate bracket.<br>

Latest revision as of 10:56, 6 January 2012

Drivetrain

Fixed chains and spacers. Painted brackets. Still need to do bumpers. Also need to modify the cart to fit the drive base.


Arm/Manipulator

Working on deploying arm from "park" to fully extended. The "elbow" joint will have a notch that hooks onto a small horizontal peg on the robot frame when the arm's in park; when the arm is moved, the notch will rotate off the peg and the arm can then lock. Wires will need to run on the inside of the elbow joint. Testing needs to be done to see whether the manipulator will whack into the ground when the arm extends, and if so, how hard (will it knock the ubertube loose?). Parts for the arm and tower are in, except for the new notch-and-peg. Assembly will start today!


Minibot/Deployer

There will be two square frames with sliders inside them. Three gas shocks inside each frame will extend to push the sliders out; the longest shock will extend in two seconds, so that is the total time for deployment. Minibot frame is assembled. Total weight will be under 5 pounds (hasn't had lightening done yet). Minibot should be assembled and ready to test this weekend!


Electrical Main

Need to start looking at where the wiring for the arm goes, and what protection it needs. Have prototyped the signal lights. Drop tray has been laminated, and other pieces are in progress. Need to work with Mechanical for weight distribution. Mechanical will need to add a mounting bracket in the center of the frame for attaching the signal lights.


Electrical Controls

Wiring up toggle switches. Everything has been worked out with Programming. Haven't worked on the keypad yet. There needs to be a protective cover for the controls, at least for shipping. Might put wheels on one end so the control board can be wheeled like a suitcase, or might connect it to a Harris backpack for carrying.


Programming

Working with drivetrain currently, it works fine in teleoperated. Testing with autonomous, the gyro works now. Line-following procedure is done. Will try to simulate the arm with Thunderplucker. Need to get line-following sensors spaced differently - Drivetrain subteam will need to make an appropriate bracket.

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