2019:Robot Design Details: Difference between revisions

From 1511Wookiee
Jump to navigationJump to search
No edit summary
No edit summary
 
(33 intermediate revisions by 2 users not shown)
Line 1: Line 1:
<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)
Overall design decisions, notes, specifications, and integration items here! Integration Task List (NEEDS LINK HERE)
 
<div class="mw-parser-output">&nbsp; <div class="mw-parser-output"><div class="mw-parser-output">
<div class="mw-parser-output">&nbsp;  
<div class="mw-parser-output">
= Overall Robot Dimensional Restraints =
= Overall Robot Dimensional Restraints =


Line 16: Line 14:
|-
|-
! scope="row" | Robot Boundary
! scope="row" | Robot Boundary
| 34"
| 34.25"
| 24"
| 25"
| 116"
|  
118.5
 
|}
|}


Line 41: Line 41:


&nbsp;
&nbsp;
</div> </div>
<div class="mw-parser-output">
= Actuators =


&nbsp;
&nbsp;
</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">
 
== Motors&nbsp; ==
= 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.
 
<div class="mw-parser-output">
== Motors (2018 COPY REMOVE THIS NOTE WHEN UPDATED FOR 2019!) ==


{| border="1" cellpadding="10" cellspacing="1"
{| border="1" cellpadding="10" cellspacing="1"
Line 61: Line 57:
| '''Quantity'''
| '''Quantity'''
| '''Notes'''
| '''Notes'''
|-
| Hatch
| picks up and deploys the hatch
| n/a
| &nbsp;
| &nbsp;
| see pneumatic actuators
|-
|-
| Cargo
| Cargo
| picks up and deploys the cargo&nbsp;
| picks up and deploys the cargo&nbsp;
| ? tbd
| &nbsp;
| non CIM
| 775 Pro
| 1-2
| 2
| need to determine side to side or vertical wheels
| Starting with gear ratio 9:1
|-
|-
| Elevator
| Elevator
| moves the cube and hatch mechanisms up and down
| moves the cube and hatch mechanisms up and down
| &nbsp;? tbd
| &nbsp;
| non CIM
| 775 Pro
| 2
| 2
|  
|  
gear ratio tbd
gear ratio 16:1


|-
| Elevator
| rotates the elevator in and out of frame perimeter
| n/a
| &nbsp;
| &nbsp;
| planned to be a piston
|-
|-
| Habitat
| Habitat
|  
| rotates wheels at rear two pistons
Lifts the robot onto level 2 or 3&nbsp;
 
| &nbsp;n/a
| &nbsp;
| &nbsp;
| &nbsp;
| 775 Pro
|  
| 2
see pneumatic actuators
| gear ratio 49:1
 
|-
| Habitat
| rotates wheels/skids in front of bumpers
| tbd
| &nbsp;
| &nbsp;
| could be piston
|-
|-
| Drive Base
| Drive Base
Line 123: Line 94:


|}
|}
</div>
</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"><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"><div class="mw-parser-output">&nbsp;</div> </div> </div>
 
== Pneumatics&nbsp; ==
== Pneumatics (2018 COPY REMOVE THIS NOTE WHEN UPDATED FOR 2019!) ==


{| border="1" cellpadding="10" cellspacing="1"
{| border="1" cellpadding="10" cellspacing="1"
Line 131: Line 101:
| '''Mechanism'''
| '''Mechanism'''
| '''Action - Say what extend and retract do!'''
| '''Action - Say what extend and retract do!'''
| '''Cylinder'''
| style="width: 42px" | '''Number of Cylinders'''
| '''Extend Powered?'''
| style="width: 74px" | '''Cylinder'''
| '''Extend Exhaust to Atmosphere?'''
|  
| '''Retract Powered?'''
'''Extend Powered?'''
| '''Retract Exhaust to Atmosphere?'''
 
&nbsp;
 
|  
'''Extend Exhaust to Atmosphere?'''
 
&nbsp;
 
|  
'''Retract Powered?'''
 
&nbsp;
 
|  
'''Retract Exhaust to Atmosphere?'''
 
&nbsp;
 
| '''Working Pressure'''
| '''Working Pressure'''
| '''Estimated Firings per Match'''<br/> (Sum of all powered directions!)
| '''Estimated Firings per Match Cycles'''<br/> (Sum of all powered directions!)
| '''Notes'''
| '''Notes'''
|-
|-
| Intake
| Hatch
| Extend = raise intake into robot<br/> Retract = lower intake to retrieve cubes
| Extend = raises the hook<br/> Retract = lowers the hook
| Bimba M-044-DP. Magnetic 3/4" bore 4" stroke, pivot mount
| style="width: 42px" | 1
| style="width: 74px" |
&nbsp;
 
3/4" Bore, 1" Stroke
 
| Yes
| Yes
| Yes
| Yes
| Yes&nbsp;
| Yes
| Yes
| Yes
| 60 PSI
| &nbsp;40
|  
|  
Assumes a defensive game (retract to prevent damage)
50 PSI


RB1 on order
| &nbsp;36&nbsp;
 
|
RB2 on shelf
Trunnion Front Mount


|-
|-
| Arm Brake
| Cargo&nbsp;
|  
|  
Extend (spring loaded extension) = disengage brake
Extend=Positions Wheels for Pickup


Retract = Engage brake
Retract= Moves Wheels Away for Hatch
 
| style="width: 42px" | 2
| style="width: 74px" |
&nbsp;
 
&nbsp;1 1/16" Bore, 7" Stroke


| Bimba 041-D. 3/4" bore 1" stroke
| No
| Yes
| Yes
| Yes
| Yes
| Yes
| Yes
| 60 PSI
|  
|  
&nbsp;40
Yes


''(Review comment: Would expect this to be greater than # of intake firings even under severe defense due to uncertainty of how to use cube and putting in "up" position for any substantial movement)''
| 50 PSI
| 6
|
Magnetic Positioning
 
Rear Pivot Mount


|
Worst Case Game
2 cubes auto, 8 cubes vault, 8-10 cubes switch @ 2 x per cube&nbsp;


Rb1 & RB2 on shelf
'''Cylinders share a solenoid'''


|-
|-
| Hand on Arm
| Elevator
| Retract = "close" hand, tighten on cube<br/> Extend = "open" hand, loosen grip on cube
| Bimba 042-D. 3/4" bore 2" stroke
| No
| Yes
| Yes
| Yes
| &nbsp;?? PSI - 60 may be too high
|  
|  
20
Extend =&nbsp;Places elevator in starting config.


''(Review comment: Thought the plan was this does not fire at all and acts as an "air spring"?)''
Retract = Places elevator in match position


| style="width: 42px" | 1
| style="width: 74px" |
&nbsp;
&nbsp;


&nbsp;1.5" bore&nbsp; 8" stroke
| Yes
| Yes
| Yes
| Yes
| 50 PSI
| 2
|  
|  
2 cubes auto, 8 cubes vault, 8-10 cubes switch&nbsp;
Rear Pivot Mount


RB1 & RB2 on shelf
Cycles assume we do not do defense


|-
|-
| Elevator Brake
|  
|  
Lifts/Ramps
Extend = Engage brake
 
Retract = Disengage brake


(One cylinder per platform/ramp but they are plumbed together on same solenoid)
| style="width: 42px" | 1
| style="width: 74px" |
1 1/4" Bore, 1/4" Stroke&nbsp;
 
| Yes
| Yes
| Yes
| Yes
| 50 PSI
|
&nbsp;34


|  
|  
Hold/Release ramp system. Extend = hold ramps up
Flexible Mount Air Cylinder


Retract = release ramps to ground level
|-
|
Habitat Lift - Robot Front


&nbsp;
&nbsp;


|  
|  
Bimba 061.5-DXDE&nbsp; 7/8" bore, 1.5" stroke
Extend = lifts the robot


Double acting, double ended
Retract = Moves Rods Out of the Way to Allow Robot on Platform
 
| style="width: 42px" | 2
| style="width: 74px" |
1 1/2" bore, 22" stroke


| &nbsp;Yes
| &nbsp;Yes
Line 222: Line 241:
| Yes
| Yes
| Yes
| Yes
| 60 PSI
| 50 PSI
|  
|  
1
2


&nbsp;
|
Magnetic Positioning


&nbsp;
'''Both of these front cylinders share a solenoid'''


|-
| Habitat Lift - Robot Rear
|  
|  
Starts match under pressure
Extend = lifts the robot


Modifying mounting to use 3/4" bore, 2" stroke double acting on hand.&nbsp; Will cut off 1/4" pf threaded end and grind down remaining threads.&nbsp;
Retract = Brings Rods Up Enough To Not Be Supported On Level 1


RB1 & RB2 on shelf.
| style="width: 42px" | 2
| style="width: 74px" |
1 1/2" bore, 22" stroke


| Yes
| Yes
| Yes
| Yes
| 50 PSI
| 2
|
&nbsp;
&nbsp;


Consider we may not need to start match under pressure - all loads lateral.&nbsp;&nbsp;
Magnetic Positioning
 
'''Both of these rear cylinders share a solenoid'''


|}
|}


= Sensor Chart (2018 COPY REMOVE THIS NOTE WHEN UPDATED FOR 2019!) =
'''<u>Pneumatics Analysis Spreadsheet:</u>'''


{| border="1" cellpadding="10" cellspacing="1" style="width: 1236px;"
[https://drive.google.com/open?id=1gFQ3QFwumD_wfPq7BhPWqa_nPq6gl0oK https://drive.google.com/open?id=1gFQ3QFwumD_wfPq7BhPWqa_nPq6gl0oK]&nbsp;
 
&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"><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">&nbsp;</div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div></div> <div class="mw-parser-output"><div class="mw-parser-output">&nbsp;</div> </div> </div>
 
= Sensor Chart&nbsp; =
 
{| border="1" cellpadding="10" cellspacing="1" style="width: 1236px"
|-
|-
| '''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
|
&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
| 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;
|-
|-
| Intake
| Hatch/Cargo/Drive
| Magnetic reed switches (2) on pivot cylinder
|  
| Senses when cylinder has completed up and down motion
Camera/vision
| style="width: 286px;" | On cylinder
 
| style="width: 147px;" | &nbsp;
Microsoft LifeCam HD-3000
 
&nbsp;
 
| for driver vision in sandstorm as well as vision lining up with the hatchs/ports
| 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&nbsp;
| style="width: 147px" | &nbsp;
|-
|-
| Arm
| Cargo
| Potentiometer
| Talon Speed Controller - NOT ACTUALLY A SENSOR JUST HERE FOR REFERENCE
| Absolute rotation position of arm.
| 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;" | On actual pivot/shaft.
| style="width: 286px" | Literally just the speed controllers
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|-
|-
| Arm
| Cargo
| Limit Switch
|  
| Tripped at end of travel/at hard stop on '''front '''of robot
Magnetic Reed Switch
| style="width: 286px;" | Left side A-frame top front&nbsp;
 
| style="width: 147px;" | &nbsp;
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;
|-
|-
| Arm
| Elevator
| &nbsp;Limit Switch
|  
| Tripped at end of travel/at hard stop on '''back''' of robot
Encoder
| style="width: 286px;" | Left side A-frame top back&nbsp;
 
| style="width: 147px;" | &nbsp;
VersaPlanetary Integrated Encoder&nbsp;<span style="font-size:small;">217-5046</span>
 
| a way to do vertical positioning
| style="width: 286px" | In the gear box on the motor
| style="width: 147px" | &nbsp;
|-
|-
| Hand on Arm
| Elevator
| Retro-reflective beam sensor
|  
| Sense cube '''all the way into''' hand
Upper Limit - EE-SPY415
| style="width: 286px;" | Mounting is important! Must look "sideways" at the cube where it hits the backstop.
 
| style="width: 147px;" | &nbsp;
| senses when the face of the inner frame when it reaches the top
| style="width: 286px" | Mounted on the upper cross bar of the outer frame
| style="width: 147px" | &nbsp;
|-
|-
| Ramp
| Elevator
| Integrated Versa Planetary Encoder
| Lower Limit - Optek OPB815WZ
| Sense travel and speed of lead screw on lift jacks<br/> One phase
| senses when the flag on the inner frame passes into the U
| style="width: 286px;" | 4 total, 1 on each jack - Sensor should be at output stage of each gearbox
| style="width: 286px" | Sensor on outer frame and flag located on inner frame
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|-
|-
| Ramp
| Habitat
| To be Determined
|  
| Sense when ramp jacks are fully reset (not used during match)
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>
| style="width: 286px;" | 4 total, 1 on each jack - ADD MOUNTING DETAILS ONCE SENSOR IS KNOWN
 
| style="width: 147px;" | &nbsp;
|  
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;
|-
|-
| Drive
| Habitat
| Shaft encoders
|  
| Travel of robot drive base. '''One phase'''
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>
| style="width: 286px;" | On center (traction) wheel shaft.
 
| style="width: 147px;" | &nbsp;
|  
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;
|-
|-
| Whole robot
| Habitat
| Gyro
|  
| Sense rotation
OPB720A-06Z Optek&nbsp; &nbsp;x2
| style="width: 286px;" | '''Must be center of rotation of robot''' away from excessive vibration sources
 
| style="width: 147px;" | &nbsp;
| &nbsp;forwards more, needed for both the front and the back pistons
| style="width: 286px" | <span style="background-color:#c0392b;">working on mount</span>
| style="width: 147px" | &nbsp;
|-
|-
| Whole robot
| Drive
| Camera
|  
|  
Visual feedback for lining up with exchange?
encoders


MS LifeCam HD USB camera
63R256 Grayhill encoder


| style="width: 286px;" | &nbsp;On the back left corner of the robot in the area set aside in cad
| Travel of robot drive base. '''One phase'''
| style="width: 147px;" | &nbsp;
| style="width: 286px" | On idler shaft
| style="width: 147px" | &nbsp;
|-
| 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&nbsp;
| style="width: 286px" | In the pnuematics stuff, on the high side of the regulator
| style="width: 147px" | &nbsp;
|}
|}


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


= Archive =
= Archive =
Line 339: Line 433:
[[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 13:21, 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  

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=10242"