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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|- | |- | ||
! scope="row" | Robot Boundary | ! scope="row" | Robot Boundary | ||
| 34" | | 34.25" | ||
| | | 25" | ||
| | | | ||
118.5 | |||
|} | |} | ||
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| | ||
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= Actuators = | |||
| | ||
< | <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 == | |||
= | |||
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== Motors | |||
{| border="1" cellpadding="10" cellspacing="1" | {| border="1" cellpadding="10" cellspacing="1" | ||
Line 61: | Line 57: | ||
| '''Quantity''' | | '''Quantity''' | ||
| '''Notes''' | | '''Notes''' | ||
|- | |- | ||
| Cargo | | Cargo | ||
| picks up and deploys the cargo | | picks up and deploys the cargo | ||
| | | | ||
| | | 775 Pro | ||
| | | 2 | ||
| | | 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 | ||
| | | | ||
| | | 775 Pro | ||
| 2 | | 2 | ||
| | | | ||
gear ratio | gear ratio 16:1 | ||
|- | |- | ||
| Habitat | | Habitat | ||
| | | rotates wheels at rear two pistons | ||
| | | | ||
| | | 775 Pro | ||
| | | 2 | ||
| gear ratio 49:1 | |||
| | |||
|- | |- | ||
| Drive Base | | Drive Base | ||
Line 123: | Line 94: | ||
|} | |} | ||
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== Pneumatics == | |||
== Pneumatics | |||
{| 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?''' | |||
| |||
| | |||
'''Extend Exhaust to Atmosphere?''' | |||
| |||
| | |||
'''Retract Powered?''' | |||
| |||
| | |||
'''Retract Exhaust to Atmosphere?''' | |||
| |||
| '''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''' | ||
|- | |- | ||
| | | Hatch | ||
| Extend = | | Extend = raises the hook<br/> Retract = lowers the hook | ||
| | | style="width: 42px" | 1 | ||
| style="width: 74px" | | |||
| |||
3/4" Bore, 1" Stroke | |||
| Yes | | Yes | ||
| Yes | | Yes | ||
| Yes | |||
| Yes | | Yes | ||
| | | | ||
50 PSI | |||
| 36 | |||
| | |||
Trunnion Front Mount | |||
|- | |- | ||
| | | Cargo | ||
| | | | ||
Extend | Extend=Positions Wheels for Pickup | ||
Retract = | Retract= Moves Wheels Away for Hatch | ||
| style="width: 42px" | 2 | |||
| style="width: 74px" | | |||
| |||
1 1/16" Bore, 7" Stroke | |||
| Yes | | Yes | ||
| Yes | | 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 | |||
| style="width: 42px" | 1 | |||
| style="width: 74px" | | |||
| | ||
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 | |||
| style="width: 42px" | 1 | |||
| style="width: 74px" | | |||
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 | |||
| style="width: 42px" | 2 | |||
| style="width: 74px" | | |||
1 1/2" bore, 22" stroke | |||
| Yes | | Yes | ||
Line 222: | Line 241: | ||
| 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 | |||
| style="width: 42px" | 2 | |||
| style="width: 74px" | | |||
1 1/2" bore, 22" stroke | |||
| Yes | |||
| Yes | |||
| Yes | |||
| Yes | |||
| 50 PSI | |||
| 2 | |||
| | |||
| | ||
Magnetic Positioning | |||
'''Both of these rear cylinders share a solenoid''' | |||
|} | |} | ||
'''<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] | ||
| |||
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= Sensor Chart = | |||
{| border="1" cellpadding="10" cellspacing="1" style="width: 1236px" | |||
|- | |- | ||
| '''Mechanism''' | | '''Mechanism''' | ||
| '''Sensor Type''' | | '''Sensor Type''' | ||
| '''Function''' | | '''Function''' | ||
| style="width: 286px | | style="width: 286px" | '''Attachment Point''' | ||
| style="width: 147px | | style="width: 147px" | '''Notes''' | ||
|- | |||
| Hatch | |||
| | |||
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. 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. | |||
| style="width: 147px" | | |||
|- | |- | ||
| | | Hatch/Cargo/Drive | ||
| | | | ||
| | Camera/vision | ||
| style="width: 286px | |||
| style="width: 147px | Microsoft LifeCam HD-3000 | ||
| |||
| 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 | |||
| style="width: 147px" | | |||
|- | |- | ||
| | | 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 | | style="width: 286px" | Literally just the speed controllers | ||
| style="width: 147px | | style="width: 147px" | | ||
|- | |- | ||
| | | Cargo | ||
| | | | ||
| | Magnetic Reed Switch | ||
| style="width: 286px | |||
| style="width: 147px | 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" | | |||
|- | |- | ||
| | | Elevator | ||
| | | | ||
| | Encoder | ||
| style="width: 286px | |||
| style="width: 147px | VersaPlanetary Integrated Encoder <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" | | |||
|- | |- | ||
| | | Elevator | ||
| | | | ||
| | Upper Limit - EE-SPY415 | ||
| style="width: 286px | |||
| style="width: 147px | | 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" | | |||
|- | |- | ||
| | | Elevator | ||
| | | Lower Limit - Optek OPB815WZ | ||
| | | senses when the flag on the inner frame passes into the U | ||
| style="width: 286px | | style="width: 286px" | Sensor on outer frame and flag located on inner frame | ||
| style="width: 147px | | style="width: 147px" | | ||
|- | |- | ||
| | | Habitat | ||
| | | | ||
| Sense | 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 | |||
| style="width: 147px | | | ||
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" | | |||
|- | |- | ||
| | | Habitat | ||
| | | | ||
| | 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 | |||
| style="width: 147px | | | ||
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" | | |||
|- | |- | ||
| | | Habitat | ||
| | | | ||
| | OPB720A-06Z Optek x2 | ||
| style="width: 286px;" | |||
| style="width: 147px | | 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" | | |||
|- | |- | ||
| | | Drive | ||
| | | | ||
encoders | |||
63R256 Grayhill encoder | |||
| style="width: 286px | | Travel of robot drive base. '''One phase''' | ||
| style="width: 147px | | style="width: 286px" | On idler shaft | ||
| style="width: 147px" | | |||
|- | |||
| 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 | |||
| style="width: 286px" | In the pnuematics stuff, on the high side of the regulator | |||
| style="width: 147px" | | |||
|} | |} | ||
</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 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 |