2020:Robot Design Details: Difference between revisions
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<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) <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) <div class="mw-parser-output"> | ||
= Overall Robot Dimensional Restraints = | = Overall Robot Dimensional Restraints = | ||
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== Motors (Preliminary pass for quantity check 1/8/2020) == | == Motors (Preliminary pass for quantity check 1/8/2020) == | ||
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== Pneumatics (NOT USED) == | == Pneumatics (NOT USED) == | ||
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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> | [[2009:Robot_Design_Details|2009 Robot Design Details]] </div> </div> </div> </div> | ||
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Revision as of 14:17, 25 January 2020
Overall Robot Dimensional Restraints
Robot frame dimensions:
- 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)
Actuators
Motors (Preliminary pass for quantity check 1/8/2020)
| Mechanism | Action | Minimum Breaker Size | Motor Model # | Quantity | Notes |
| Drive Base | moves the robot on the field | Neo Brushless | 4 | 11:80 gear ratio | |
| Hang | runs the winch to pull the robot up | Neo Brushless | 1 |
(2) 5:1 Versaplanetary + 2:1 Chain (#35) 1 Winch, 2 arms
| |
| Intake | Pivots intake in and out of the robot | Neo Brushless 550 | 1 |
(2) 10:1 VersaPlanetary + 2:1 belt pullys 18T: 36T | |
| Intake | Spins the "beater bar(s)" | NEO Brushless 550 | 1 | 7:1 Versaplanetary | |
| Storage | Agitates the balls and moves them up to the shooter | NEO Brushless 550 | 1 | (2) 4:1 Versaplanetary | |
| Storage transition wheel | Feeds balls into shooter | NEO Brushless 550 | 1 | 7:1 Versaplanetary | |
| Shooter | Spins the prrimer wheel | NEO Brushless 550 | 1 | (2) 5:1 Versaplanetary | |
| Shooter | Spins the shooting wheel axle | Neo Brushless | 2 |
2:1 Pulley | |
| Shooter | Future Turret | Neo Brushless 550 | 1 | (2) 7:1 Versaplanetary, 18:178 belt | |
| Wheel of Fortune | Spins the wheel to turn the colored wheel | NEO Brushless 550 | 1 | 4:1 + 5:1 VersaPlanetary gearbox | |
| 14 |
Pneumatics (NOT USED)
| 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 |
| Powerful Puncher! | Extend = extends puncher to punch the wall Retract = pull puncher back in |
1 |
3" Bore, 8" Stroke |
Yes | Yes | Yes | Yes |
95 PSI |
36 |
Sensor Chart
|
Mechanism |
Sensor Type | Function | Attachment Point | Notes |
|---|---|---|---|---|
|
Intake |
Beam Break | Senses incoming power cells | Intake of helix/storage |
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? If not what does? 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? Location critical if it is sensing gaps between balls. |
| Storage | Voltage Sensor? | Make sure we are not jamming ? | Dave was talking about this I think in response to a concern that the speed of the agitator wil be critical - it can not go to fast or it jams up the cells. | |
|
Storage/Shooter |
Rev Color Sensor v3 | Senses presence of ready-to-shoot power cells | Intake of shooter |
This would only work if there are 5 power cells? Need to confirm whether a single power cell will stay at the top of the helix (with another robot hitting it) or we need to use a combination of top and bottom helix sensors to know we have cells in the helix that are at the top or can be spun up to the top? |
| Storage/Shooter | ? |
|
Needs to be able to turn on/off storage/shooter transition wheel to keep cells from entering shooter between shots | |
|
Shooter |
? | |||
|
Hang |
Encoder? ? |
Tells arms how high to raise | Do we need to lbe able ot adjust how high it goes (highest, less than highest when we someone if hanging at an end and we want to go in the middle)? Or are we always going highest? | |
|
Hang |
Encoder? ? |
Tells arms how far to retract | Is there only ever on set retraction? | |
|
Hang |
Proximity sensor? | Tells when each stage of arm is fully deployed | Backup to hard stop? | |
|
Wheel of Fortune |
Encoder | Counts the number of wheel turns | In gearbox | Stops motor? Will wheel continue to spin? |
|
Wheel of Fortune |
Color Sensor | Reads color on wheel | Stops motor when correct color is read? | |
|
Drive Base |
Encoder? | |||
|
Intake (Rotation) |
Encoder? Limit Switch |
Limits how far intake comes into the robot frame | Will need hard stop back up |
