2025:Cage

1/16/2025 :

Finished prototyping on all considered designs. We have decided to disregard the "Bicep Hang" design as it is difficult to implement due to the fact that it causes issues with balancing, and because it would be difficult to stop it from contacting the "Anchor" of the cage. We are moving forward, beginning with CAD designs of the "Double Lever Hang" design because it has the best center of gravity for the hang, and it is relatively simple to implement on the robot, not taking up much space.

• Selected potential gearbox and motors for hang designs

Rev MAXPlanetary Gearbox Reduction Chart

Vex VersaPlanetary Gearbox Reduction Chart

1/18/2025 - CAD:

• Came up with ideas for stop mechanism (Ratchet and Pawl mechanism.)
• Worked on an idea for outward moving riggers to keep the robot balanced during hang.
• Worked on a CAD model for the double lever hang, including custom made lifter arms.
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TO DO:

• Work with Drive Base and Game piece to finalize drive base dimensions
• Continue CAD design
• Work on the Ratchet Mechanism in CAD
• Figure out where the battery will be placed on the robot
• CAD design for the funnel/game piece guider

1/19/2025 - CAD:

• Worked on CAD model for the ratchet and pawl mechanism and attempted to integrate it into the double lever hang design
• Lengthened the hex shafts on the CAD model to add another lever on both sides of the lever hang
• Mounting pieces for the motor were created and attached
• Troubles with integrating the ratchet and pawl mechanism became apparent due to lack of space

TO DO:

• Figure out how to orient the ratchet in order to accomplish a working relationship between both the ratchet and pawl mechanism, and the double lever hang mechanism
• Continue refining CAD designs for the mechanisms
• Check in with Game piece sub-team
• Have a conversation with electrical about the placement of the battery
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1/21/2025 - CAD:

• Discussed with other Subteams about spacing, battery placement, and frame size.
• Moving to alternative designs due to battery placement.
• Targeting Shallow Cage instead of Deep Cage.
• Designing single, moving hook mechanism, mounted on elevator crossbar and driven with a winch.
• Possibly using existing designs:
  • • GreyT Telescope – WestCoast Products
    • Climber in a Box - AndyMark, Inc

To Do:

• Continue Shallow Cage climb design.
• Explore potential Deep Cage designs that work with rear battery placement.

1/23/2025 - CAD:

• Worked on creating a sliding hook mechanism to attach onto the (in progress) Shallow Hang Mechanism
• Worked on creating a new ratchet and pawl mechanism for the Shallow Hang Mechanism
• Worked on creating new motor mounts and orientation of the mechanism in CAD

TO DO:

• Continue to work on Shallow Cage climb design
• Create an assembly for the Shallow Cage Winch Hang
• Create a prototype off of the assembly
• Test the prototype
• Research and create new deep cage climbing mechanisms that will cooperate with the new found battery placement in the rear end of the robot.

1/25/2025 - CAD:

• Worked on assembling and configuring the new ratchet and pawl mechanism
• Worked on creating and assembling the hook for the the shallow hook hang mechanism
• Worked on assembling and integrating the two mechanisms into the final robot

TO DO:

• Finalize ratchet and pawl mechanism
• Finalize the mounting of the mechanisms to the robot
• Update the geometry of the hook to make it more realistic and working
• Approve parts for drawings and manufacturing

12/26/2025 - CAD:

• Worked on a re-location of the solenoid on the ratchet mechanism
• Insert the assembly in the final robot assembly

TO DO:

• Add fasteners and mounting to the solenoid assembly
• Create and add mounting brackets to connect the winch mount bar to the drive base
• Prepare the design for productions and start shop drawings 

12/28/2025 - CAD and SHOP DRAWINGS:

• Hang ratchet gear was finalized and sent out as a shop drawing
• Worked on finalizing ratchet and pawl mechanism - Almost complete
• Worked on making shop drawings for parts

TO DO:

• Finalize design for production
• Add brackets and hard wear for mounting 

12/29/2025 - CAD and SHOP DRAWINGS:

• Worked on making shop drawings for parts and sending them out
• Finalized the Ratchet and Pawl mechanism 
• Made mounting plates for the bar used to mount the ratchet and pawl mechanism

TO DO: 

• Continue making shop drawings for parts
• Add the mounting brackets and hard wear for mounting

02/01/2025 - SHOP DRAWINGS and CAD:

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• Worked on shop drawings 
• Worked on 3D printing the mounting block for the solenoid and 3D printing other hang parts
• Figured out flag sensor for detecting when the solenoid is engaged or not
• Added the mounting brackets and hard wear for mounting

TO DO:

• Continue making shop drawings for parts
• Start machining and creating parts for hang
• Start assembling the hang mechanisms

02/02/2025 - MACHINING and SHOP DRAWINGS:

• Worked on machining and creating the ratchet and pawl mounting bars
• Worked on painting the mounting bars
  
• Worked on starting to assemble the solenoid with the 3D printed mounting brick
• Worked on making more shop drawings

TO DO:

• Continue assembling the shallow hang mechanism
• Continue manufacturing parts for assembly
• Start discussing with RCS about controls and programing 

02/04/2025 - CAD AND SHOP DRAWINGS:

• Made shop drawings for parts
• Finalized the location for the frame mounting bar that hold the ratchet and pawl mechanism in place
• Decided on shallow hang - look into possibly doing deep hang later

TO DO:

• Continue manufacturing and fabricating parts
• Assemble the shallow hook hang mechanism
• Finish all shop drawings
• Start discussions with RCS about controls and programming of mechanisms
• Create a pulley to guide the strip to the  wheel
• Finalized the hook part for the shallow hang

02/05/2025 - CAD and MANUFACTURING:

• Worked on the hook for the shallow hang 
• Worked on manufacturing and making the hex shaft for the ratchet and pawl mechanism on the lathe
• Worked on manufacturing other parts 

TO DO:

• Continue manufacturing and fabricating parts
• Continue assembly on ratchet and pawl mechanism 
• Finalize the hook for the shallow hook hang before starting assembly of it
• Create a pulley to guide the strip to the wheel
• Finalize all shop drawings for manufacturing
• Build a transmission for the winch mechanism
• Change the colors of the CAD parts to black and red - for matching what are moving and non-moving parts
  

02/06/2025 - CAD and MANUFACTURING:

• Worked on assembling the transmission
• Worked on manufacturing parts
• Worked on painting parts once finished 
• Worked on CAD - fixing the hook part of the shallow hang mechanism in CAD and worked on finishing the sensor mount for the hook
• Finalized the hook for the shallow hook hang mechanism

TO DO:

• Continue manufacturing parts
• Continue assembly of parts
• Finalize all shop drawings for manufacturing
• Create a pulley to guide the strip to the wheel in CAD
• Change the colors of the CAD parts to black and red - for matching what are moving and non-moving parts

02/08/2025 - CAD and MANUFACTURING:

• Worked on assembling ratchet and pawl mechanism
• Worked on manufacturing parts
• Worked on CNCing parts
• Worked on sending out parts to be 3D printed
• Worked on shop drawings for parts
• Worked on fixing CAD models - inaccurate dimensioning

TO DO:

• Continue assembly of mechanisms
• Reprint the solenoid mounting brick - inaccurate printing
• Add thread locker on the threads of bolts that can get loose
• Ensure all CNC parts are completed
• 3D print hook parts and other parts needed
  
  
  

02/09/2025 - ASSEMBLY and MANUFACTURING:

• Worked on starting 3D prints of some parts
• Worked on making more parts on the CNC
• Worked on lock-tighting screws
• Worked on assembling the bars that the hook will mount onto
  

TO DO:

• Finish all 3D printing and CNC parts
• Start assembling the hook
• Continue assembly of the shallow hook hang mechanism(s)

02/11/2025 - CNCing and MANUFACTURING:

• Worked on re-CNCing the two mounting plates for the upper bar
• Put together mechanism backwards - accidentally 

TO DO: 

• finish assembly
• mount to robot
• \

 02/12/2025 - ASSEMBLY:

• Worked on assembling both the hook and the ratchet and pawl mechanism
• Worked on fixing the CAD for the hook shaft pieces due to incorrect dimensioning
• Worked on lock tighting the ratchet assembly and inserting the other parts needed

TO DO:

• Mount mechanisms to robot
• Replace the surgical tube with a spring
• CNC the replacement hook shafts
  
  

02/13/2025 - ASSEMBLY and WIRING:

• Finished mounting the ratchet and pawl mechanism and the hook onto the robot - all mounting finished
• Wired up the sensors for the solenoid and the hook
• Tested hang without power

TO DO:

• Test hang with power
• Re-make the two outer shaft CNC parts
• Add the springs to the hook
• Start looking back into potential deep cage designs
  
  

02/15/2025 - WIRING and CAD:

• Worked on wiring up the robot and fixing up the wires
• Worked on CNCing the two outer shaft parts for the hook
• Added springs to the hook
• Added alignment guides to the hook
• Found McMaster springs for the CAD

TO DO:

• Find and attach different and stronger springs to the hook assembly
• Test hang with power
• Start looking back into deep cage designs 
  

FEBRUARY 16-23 of 2025 - RALLY WEEK:

• Robot was used within the Rally competition games and the hang was not used due to the Shallow Hang, ironically, being too deep/low to work
• Robot problems occurred with electrical issues, and drive base issues
• The springs on the Hook Mechanism were replaced with stronger springs

02/25/2025 - CAD and DEEP CAGE WORK:

• Worked on finding ways to re-enforce the gussets for the Deep Cage Hang Mechanism
• Worked on moving the Hook Mechanism up a couple of holes in order to have enough height to reach the Shallow Cage.
• Worked on fixing the CAD and designs for the Deep Cage Hang Mechanism

02/26/2025:

• Hung the robot on the cage, it hung too low by 4.125 inches

TO DO:

• Find a new way for Shallow Hang to hang that will allow it to pull it off the ground enough

02/27/2025 - CAD and MACHINING:

• Worked on implementing the 2022 design for hang instead of the design we had
• Figured out that we need 8 inches of lift to prevent the robot from scrapping the ground
• Worked on making spare parts for both deep and shallow hang mechanisms
• Started CADing up a new design for the Shallow Hook Hang by using the 2022 hook design in CAD as a base model

TO DO:

• Make one of the two hang designs work
• Continue working on the Deep Hang Design on the prototype bot