2010:Robot Design Details: Difference between revisions
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= 2010 Main Robot Design = | = 2010 Main Robot Design = | ||
*<br> | |||
*<br> | |||
*<br> | *<br> | ||
<br> '''CURRENT TOTAL WEIGHT ESTIMATE:''' (tbd)lbs | |||
<br> | |||
'''CURRENT TOTAL WEIGHT ESTIMATE:''' (tbd)lbs | |||
= Drivetrain Design = | = Drivetrain Design = | ||
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*Keep Balls from going underneath the robot | *Keep Balls from going underneath the robot | ||
'''WEIGHT ESTIMATE:''' (tbd)lbs | '''WEIGHT ESTIMATE:''' (tbd)lbs | ||
= Mechanical 1 Design - Lift & Structure<br> = | = Mechanical 1 Design - Lift & Structure<br> = | ||
| Line 33: | Line 35: | ||
*Lift Robot above platform height as fast as possible (faster than 5 seconds) | *Lift Robot above platform height as fast as possible (faster than 5 seconds) | ||
*Extend lift and capture bar in under 5 seconds. | *Extend lift and capture bar in under 5 seconds. | ||
*Create an upper structure that supports the lift mechanism | *Create an upper structure that supports the lift mechanism | ||
*Create an upper structure that deflects balls | *Create an upper structure that deflects balls | ||
*Create an upper structure that potentially deflects balls towards the front of the robot | *Create an upper structure that potentially deflects balls towards the front of the robot | ||
'''WEIGHT ESTIMATE:''' (tbd)lbs | '''WEIGHT ESTIMATE:''' (tbd)lbs | ||
= Mechanical 2 Design - Kicker & Beater Bar<br> = | = Mechanical 2 Design - Kicker & Beater Bar<br> = | ||
| Line 52: | Line 55: | ||
*Be able to control/possess balls while driving around the field | *Be able to control/possess balls while driving around the field | ||
'''WEIGHT ESTIMATE:''' (tbd)lbs | '''WEIGHT ESTIMATE:''' (tbd)lbs | ||
= Electrical System = | = Electrical System = | ||
| Line 66: | Line 70: | ||
*Magic | *Magic | ||
* | * | ||
''' Main Goals:''' | |||
''' Main Goals:''' | |||
*To Give all mechanical components power | *To Give all mechanical components power | ||
*Make sure that the magic smoke that makes up all electrical components does not escape | *Make sure that the magic smoke that makes up all electrical components does not escape | ||
<br> '''WEIGHT ESTIMATE:''' (tbd)lbs | <br> '''WEIGHT ESTIMATE:''' (tbd)lbs | ||
= Motors List = | = Motors List = | ||
| Line 77: | Line 82: | ||
*4 CIM Motors - Drivetrain | *4 CIM Motors - Drivetrain | ||
*1 CIM Motor - Lifter: Winch & Pushing cable | *1 CIM Motor - Lifter: Winch & Pushing cable | ||
*TBD Motor - Pivoting Mechanism<br> | *TBD Motor - Pivoting Mechanism<br> | ||
*2 Window Motors - Kicker | *2 Window Motors - Kicker | ||
*TBD Motor - Beater Bar | *TBD Motor - Beater Bar | ||
| Line 86: | Line 91: | ||
*4 Banebots Encoders - Drivetrain | *4 Banebots Encoders - Drivetrain | ||
*1 TBD Encoder - Electronic Clutch | *1 TBD Encoder - Electronic Clutch | ||
*1 TBD sensor - Determine relative posistion of pull back mechanism in conjuction with encoder on electronic clutch | *1 TBD sensor - Determine relative posistion of pull back mechanism in conjuction with encoder on electronic clutch | ||
*1 BeamBreak Sensor - Ball Kicker | *1 BeamBreak Sensor - Ball Kicker | ||
= Autonomous Modes = | = Autonomous Modes = | ||
See Design in Programming section: [http://www.penfieldrobotics.com/wiki/index.php?title=2010:Autonomous www.penfieldrobotics.com/wiki/index.php] | See Design in Programming section: [http://www.penfieldrobotics.com/wiki/index.php?title=2010:Autonomous www.penfieldrobotics.com/wiki/index.php] | ||
= Archive = | = Archive = | ||
[[Robot Design Details|2009 Robot Design Details]] | [[Robot Design Details|2009 Robot Design Details]] | ||
Revision as of 17:59, 27 January 2010
2010 Main Robot Design
CURRENT TOTAL WEIGHT ESTIMATE: (tbd)lbs
Drivetrain Design
- 4 Direct Drive CIM Motors
- 16:1 Banebots Transmissions
- 2 Traction Wheels in the Front
- 2 Omni Wheels in the back
Main Goals:
- Be able to go over the bumps
- Be manueverable
- Keep Balls from going underneath the robot
WEIGHT ESTIMATE: (tbd)lbs
Mechanical 1 Design - Lift & Structure
- Using a mechanical telescope driven by pushing a cable up a tube to lift a hook
- Designed to lift the robot from either side off of the bump
- Has a pivoting mechanism that angles the telescope to the left or right depending on which side of the tower the robot is on
- Hook has a shepards crook design to be able to easily grab the high bar
- Winch pulls the telescoping tube back towards the robot to lift the robot off the ground
- Should be able to lift above needed height in under 5 seconds
- Using CIM Motor, but may be able to use Fischer Price if necessary
Main Goals:
- Lift Robot above platform height as fast as possible (faster than 5 seconds)
- Extend lift and capture bar in under 5 seconds.
- Create an upper structure that supports the lift mechanism
- Create an upper structure that deflects balls
- Create an upper structure that potentially deflects balls towards the front of the robot
WEIGHT ESTIMATE: (tbd)lbs
Mechanical 2 Design - Kicker & Beater Bar
- Using 2 window motors and an electronic clutch
- Uses a "thunderfoot" kicker springloaded with surgical tubing to kick the ball
- Kicker will have variable positioning to kick ball different distances
- Beater bar is a simple spinning bar in the front of the robot that just spins to pull the balls into the robot and hold them while turning
Main Goals:
- Be able to kick the ball at distances from all 3 locations on the field (near, middle, far)
- Be able to score the ball when in the near zone
- Be able to control/possess balls while driving around the field
WEIGHT ESTIMATE: (tbd)lbs
Electrical System
- 4 Jaguar Speed Controllers
- Power Distributin Board
- 120 amp Circuit Breaker
- Digital I/O
- Linksys Router
- Spike Relay
- cRIO with 2 Digital Side Cars
- Indicator Light
- Wires
- Magic
Main Goals:
- To Give all mechanical components power
- Make sure that the magic smoke that makes up all electrical components does not escape
WEIGHT ESTIMATE: (tbd)lbs
Motors List
- 4 CIM Motors - Drivetrain
- 1 CIM Motor - Lifter: Winch & Pushing cable
- TBD Motor - Pivoting Mechanism
- 2 Window Motors - Kicker
- TBD Motor - Beater Bar
- 2 Fisher Price, 2 Window motors, and 2 Mabuchi motors remaining
Sensors List
- 4 Banebots Encoders - Drivetrain
- 1 TBD Encoder - Electronic Clutch
- 1 TBD sensor - Determine relative posistion of pull back mechanism in conjuction with encoder on electronic clutch
- 1 BeamBreak Sensor - Ball Kicker
Autonomous Modes
See Design in Programming section: www.penfieldrobotics.com/wiki/index.php
