2016:Lifter

1. The Plan

We have come to the conclusion that the best method of scaling the castle near the end of the match is using a telescoping arm to latch onto the bar and then lift with the arm.  

2.  Motors and Sensors 

Scaler arm extend:

Two 775pro motors

versaplanetary 50:1 with two motor adaptor

12 tooth on motor shaft to 12 tooth on mechanism.

Sensors:

One Retroreflective sensor (EE-SPY415) to determine when the scaler is at its high end stop.

One Optical Flag sensor (OPB815WZ) to determine when the scaler is at its low end stop and home for encoder. 

One Shaft Encoder (GrayHill 61KS256) for use to measure scaler extension location. 

Scaler Pivot Arm:

Use Versaplanetary 100:1

12 tooth sprocket on motor shaft driving a 42 tooth sprocket

Sensors:

Two Optical Flag sensor (OPB815WZ) to determine when the arm is at an end stop.

One potentiometer to determin where the arm of the scaler is. 

3.  Update 1/26/16

​3.1  What we're working on

• Design rollers/stops for the arm stages
• Design lightning holes
• Design motor mountings and figure out how to attach to the drivebase
• Send parts to chamtek
• Finish CAD work

3.2  Photos

This is the hook we will be using.

This is the actual arm we designed.