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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&nbsp;
 
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= Actuators =
= Actuators =


''''' THE FOLLOWING TABLES ARE COPIES OF 2018's TABLES AND HAVE BEEN LEFT FOR ILLUSTRATION ONLY - DO NOT USE FOR 2019!'''''
&nbsp;
Please delete the above note and replace content of the tables below with 2019-relevant information once available.
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== Motors&nbsp; ==
== Motors&nbsp; ==


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| '''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;
| &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
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|}
|}
 
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== Pneumatics&nbsp; ==
== Pneumatics&nbsp; ==


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| '''Mechanism'''
| '''Mechanism'''
| '''Action - Say what extend and retract do!'''
| '''Action - Say what extend and retract do!'''
| style="width: 42px;" | '''Number of Cylinders'''
| style="width: 42px" | '''Number of Cylinders'''
| style="width: 74px;" | '''Cylinder'''
| style="width: 74px" | '''Cylinder'''
| '''Extend Powered?'''
|  
| '''Extend Exhaust to Atmosphere?'''
'''Extend Powered?'''
| '''Retract 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'''
|-
|-
| Hatch
| Hatch
| Extend = raises the hook<br/> Retract = lowers the hook
| Extend = raises the hook<br/> Retract = lowers the hook
| style="width: 42px;" | 1
| style="width: 42px" | 1
| style="width: 74px;" |  
| style="width: 74px" |  
Bimba tbd&nbsp;
&nbsp;


estimated 3/4" bore 1" stroke
3/4" Bore, 1" Stroke


| Yes
| Yes
| no
| no ?possibly spring loaded
| Yes
| Yes
| 40 PSI
| Yes&nbsp;
| &nbsp;12 (24 if not spring loaded)
| Yes
|  
|  
&nbsp;
50 PSI
 
| &nbsp;36&nbsp;
|
Trunnion Front Mount


|-
|-
| Hatch
| Cargo&nbsp;
|  
|  
Extend = brings it out past the cargo
Extend=Positions Wheels for Pickup


Retract= brings it back in
Retract= Moves Wheels Away for Hatch


| style="width: 42px;" | 1
| style="width: 42px" | 2
| style="width: 74px;" |  
| style="width: 74px" |  
Bimba tbd&nbsp;
&nbsp;


estimated 3/4" bore 2-4" stroke
&nbsp;1 1/16" Bore, 7" Stroke
 
| Yes
| Yes
| Yes
|
Yes


| yes
| 50 PSI
| no
| 6
| yes
| no
| 40 psi
| 24
| &nbsp;
|-
| Cargo (side wheels)
|  
|  
Extend=brings the wheels into the cargo
Magnetic Positioning


Retract= opens the wheels
Rear Pivot Mount


| style="width: 42px;" | 2
Worst Case Game
| style="width: 74px;" |
Bimba tbd&nbsp;


estimated 3/4" bore 3" stroke
'''Cylinders share a solenoid'''


| yes
| yes
| yes
| yes
| 40 psi
| 24 *
| * total cycles of cargo and hatch combined will not exceed 12 (24 if dual action)
|-
|-
| Elevator
| Elevator
|  
|  
extend= places elevator in match position
Extend =&nbsp;Places elevator in starting config.


retract= places elevator in starting config.
Retract = Places elevator in match position


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


estimated 1.5" bore 18" stroke
&nbsp;1.5" bore&nbsp; 8" stroke


| yes
| yes
| yes
| yes
| 60 psi
| 2 (depending on if we do defense)
| &nbsp;
|-
| Elevator Brake
|
Extend (spring loaded extension) = disengage brake
Retract = Engage brake
| style="width: 42px;" | 1
| style="width: 74px;" | Bimba 041-D. 3/4" bore 1" stroke
| No
| Yes
| Yes
| Yes
| Yes
| Yes
| Yes
| 60 PSI
| Yes
| 50 PSI
| 2
|  
|  
&nbsp;18
Rear Pivot Mount


|
Cycles assume we do not do defense
12 cycles plus adjustment factor&nbsp;


|-
|-
| Habitat skids
| Elevator Brake
|  
|  
Extend = deploys the skids
Extend = Engage brake


Retract = brings the skids back in
Retract = Disengage brake


| style="width: 42px;" | 2
| style="width: 42px" | 1
| style="width: 74px;" |  
| style="width: 74px" |  
Bimba tbd
1 1/4" Bore, 1/4" Stroke&nbsp;


3/4" bore 2" stroke
| yes
| Yes
| Yes
| no
| Yes
| no
| Yes
| 60 psi
| Yes
| 50 PSI
|  
|  
1
&nbsp;34


|  
|  
&nbsp;
Flexible Mount Air Cylinder


|-
|-
|  
|  
Habitat Lift
Habitat Lift - Robot Front


&nbsp;
&nbsp;
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Extend = lifts the robot
Extend = lifts the robot


Retract = keeps us from being technically supported by level one
Retract = Moves Rods Out of the Way to Allow Robot on Platform


| style="width: 42px;" | 2
| style="width: 42px" | 2
| style="width: 74px;" |  
| style="width: 74px" |  
Bimba tbd&nbsp;
1 1/2" bore, 22" stroke
 
2" bore, 22" stroke


| &nbsp;Yes
| &nbsp;Yes
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| Yes
| Yes
| Yes
| Yes
| 60 PSI
| 50 PSI
|  
|  
2
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
|  
|  
&nbsp;
&nbsp;
Magnetic Positioning
'''Both of these rear cylinders share a solenoid'''


|}
|}


</div>
'''<u>Pneumatics Analysis Spreadsheet:</u>'''
</div>
 
[https://drive.google.com/open?id=1gFQ3QFwumD_wfPq7BhPWqa_nPq6gl0oK https://drive.google.com/open?id=1gFQ3QFwumD_wfPq7BhPWqa_nPq6gl0oK]&nbsp;
 
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= Sensor Chart&nbsp; =
= Sensor Chart&nbsp; =


{| border="1" cellpadding="10" cellspacing="1" style="width: 1236px;"
{| 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
| Hatch
| &nbsp;proximity sensor
|  
| to confirm that we have the hatch in the hook
&nbsp;limit switch
| style="width: 286px;" | &nbsp;
 
| style="width: 147px;" | &nbsp;
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;
|-
|-
| Hatch
| Hatch/Cargo/Drive
| &nbsp;&nbsp;Camera/vision
|  
| knowing that we are aligned with the port
Camera/vision
| style="width: 286px;" | &nbsp;
 
| 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;
|-
|-
| Cargo
| Cargo
| &nbsp;Beam Break
| Talon Speed Controller - NOT ACTUALLY A SENSOR JUST HERE FOR REFERENCE
| knowing that we have acquired the ball
| 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;" | &nbsp;
| style="width: 286px" | Literally just the speed controllers
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|-
|-
| Cargo
| Cargo
| &nbsp;Camera/vision
|  
| knowing that we are aligned with the port
Magnetic Reed Switch
| style="width: 286px;" | &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;
|-
|-
| Elevator
| Elevator
| &nbsp;Encoder
|  
Encoder
 
VersaPlanetary Integrated Encoder&nbsp;<span style="font-size:small;">217-5046</span>
 
| a way to do vertical positioning
| a way to do vertical positioning
| style="width: 286px;" | &nbsp;
| style="width: 286px" | In the gear box on the motor
| style="width: 147px;" | &nbsp;
| style="width: 147px" | &nbsp;
|-
| Elevator
|
Upper Limit - EE-SPY415
 
| 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;
|-
| Elevator
| Lower Limit - Optek OPB815WZ
| senses when the flag on the inner frame passes into the U
| style="width: 286px" | Sensor on outer frame and flag located on inner frame
| style="width: 147px" | &nbsp;
|-
|-
| Habitat
| Habitat
| &nbsp;not being able to drive forwards
|  
| knowing that both skids are against the platform
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;" | &nbsp;
 
| 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
| 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 idler 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
|  
|  
Lining up the cargo and the hatch panels, and driving durning sandstorm&nbsp;
encoders


| style="width: 286px;" | &nbsp;
63R256 Grayhill encoder
| style="width: 147px;" | &nbsp;
 
| Travel of robot drive base. '''One phase'''
| 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;
|}
|}


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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]]
[[2009:Robot_Design_Details|2009 Robot Design Details]] </div> </div> </div></div>
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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  

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

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