2012:Shooter and Collector: Difference between revisions

From 1511Wookiee
Jump to navigationJump to search
No edit summary
No edit summary
Line 8: Line 8:
**Kit Window motor
**Kit Window motor
**Geared down 48:188
**Geared down 48:188
**<span style="color: red">Need power controller</span>
**Controlled by speed controller (needed for fine adjustment)


*2-Wheel shooter  
*2-Wheel shooter  

Revision as of 14:24, 22 January 2012

Shooter Design

  • Turret-mounted
    • Approx. 280 degrees of rotation minimum need final range
    • 1-degree precision
    • Mechanical hardstops
    • Absolute angular position sensor
    • Kit Window motor
    • Geared down 48:188
    • Controlled by speed controller (needed for fine adjustment)
  • 2-Wheel shooter
    • Must be able to impart backspin
    • Fixed angle of shot -- approximately 60-70 degrees above floor
    • Each wheel independently controlled (to control backspin)
    • Powered by Fisher-Price (968-9013) motor on speed controllers
    • Transmission -- AM-0002
    • Sensor for RPM on each
      • Provide sufficient resolution for rapid speed control update
      • Identify sensor characteristics
  • Camera mounted on turret
    • Must have direct light source inline with lens
    • Must be able to tilt
    • Higher is better to see over robots in front of us
    • Do we need pan?

2012:Shooter and Collector Camera

Beater Bar Design

  • Fixed position within frame, as close to perimeter as possible
  • 1 speed forward, 1 speed reverse (full speed? can use relay?)
  • Pushes balls in and on to first conveyor section
  • Banebots RS-775 motor
  • Banebots P60 4-to-1 transmission, geared down 2-to-1 for total of 8-to-1


Wings/V-collector Design

  • V-shaped collector outside of robot
  • Articulated up/in and down/out -- 2-position motion
  • Just a plain bars, no actual motion on the bars themselves
  • Motion must be able to pull unloaded bridge down from horizontal
  • Must extert 10lbs force at the tip to pull the unloaded bridge
  • AM-0914 motor and associated gearbox
    • Geared down 2-to-1 for additional torque (2-to-1 gives stall torque of 6200 oz-lbs = 380 inch-lbs)
    • 2-to-1 gearing gives unloaded single-actuation of about 0.433 sec unloaded
    • Loaded (bridge) actuation is about 0.525 seconds
  • Mechanical hard-stops
  • Absolute positional sensor
  • Limit switches on both ends


Ball Movement/Storage System Design

  • 3-stage conveyor system
  • First 2 stages straight at approx. 45 degree rise
  • Intake end begins behind front wheel, about 1" from floor
  • Each stage uses....
    • 1 Banebots RS-775 motors [1]
    • Coupled to Banebots P60 16-to-1 transmissions [2]
    • Banner-style sensor at the very inside-edge to indicate that "this ball has advanced fully in this stage"
  • Additional banner-style very close to intake end (just past beater bar contact point) to count balls and know when we can stop intake on beater bar


Resources

Shooter and Collector Master Task List

Shooter and Collector's Engineering Notebook

Week 1

Week 2

Week 3

Week 4

Week 5

Week 6

Engineering Notebook Templates Available at:Engineering_Notebook_Template

Please Label All Notebook Pages 2012:Shooter and Collector XX.XX to avoid confusion.