2018:End Game Mechanism: Difference between revisions

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==== Leads: Mark M, Tai L, Rachel B ====
==== Leads: Mark M, Tai L, Rachel B ====
<span><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;"></span></span>Day 1:
Brainstormed concepts of how to climb
Use climbing mechanism that will be able to share bar with another robot
Use climbing mechanism that will take up entire bar but will take another robot up with ours
Create our own ramp that will lift up both robots above 11"
Day 2:&nbsp;
Began to lean towards making our own ramp for other robots to climb onto
Designed several different concepts for a ramp
Tested measurements and variables for the ramp (Angle, drivebases of other robots, material,etc.)
Day 3:
Started building carboard prototypes
Started putting concepts on CAD
Realized that Null Zone will interefere with the ramp design
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Modified Push Up:</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Ramp technique with pneumatic cylinders used to change ramp geometry to a flat platform.</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">https://lh4.googleusercontent.com/MekoOW35vz31CJnARjB4rVHKuy-N8tfDDXj0lGKm2EnUWexKrcTLg86pxK7w8TZk1bIYZ_EdrqITcdXCs5yKOEuIOOwq3jPvJhq6k96U18rtbfPcDcopogwK5zyO66TNBpS3W81V</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">190 Gomepi and The Heard WORLD CHAMPIONS 2007</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Video: </span>[https://www.youtube.com/watch?time_continue=128&v=Dd8p13fdYiI <span style="font-size: 11pt; font-family: Arial; color: rgb(17, 85, 204); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; text-decoration-line: underline; vertical-align: baseline; white-space: pre-wrap;">https://www.youtube.com/watch?time_continue=128&v=Dd8p13fdYiI</span>]<span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Watch at 2:00 Mark</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">https://lh6.googleusercontent.com/4_Snt8wgzx3yW2jRLid-NUnmw2d1UvyOJy2uF3HFpzFnGp-jO7AKBVZQ7Oo_EPSAd--zjAkMC88sxrJlZaREEPJsYIl2NDLgbgbemo8S72yUE9xNvMfrBgInuiPKUXrxTGNzc0nh</span><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">https://lh4.googleusercontent.com/eJ-f2D2Sb2TYhxDx6flIJA6Dopry6-H-_V4oDxNPSG3YjdYK0ubY93T734d8lqTTZWZ9wKVVshpwT4vPrh5lp6ZA-6QwNWnR7-4AN8q-Bwmr0bLnTNt2kS-LkEkFH7jNiw3D7Lkr</span></span>
<br/><br/>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Discussion Notes:</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Potentially much safer than climbing</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">But risk that a robot may not be able to climb us</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Other robot may be able to push them up.</span></span>
<br/><br/><br/><br/><br/>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Angle tests: 13 15 20 25</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Tests were worst case scenarios with 4 inch omni wheels and bumpers with 1.5 inch clearance.</span></span>
<br/>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Today Goals:</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Get everything on the Wiki</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Prototype and cad butterfly</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Formula for pneumatic car jack technique</span></span>
<br/>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Continued evaluation of the game by strategy revealed that it is possible for an opponent to defend one of our partners from getting on our ramp. If the opponent is touching their null zone they would completely block access to that side of our ramp. Because of this Strategy has given us the following criteria. Ramps must be accessed by robots from the platform zone.</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Bumper rules:</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">We realized that prototypes that drop below our drivetrain violate the bumper rules. The bumper rule states</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">R24. BUMPERS must be located entirely within the BUMPER ZONE, which is the volume contained between the floor and a virtual horizontal plane 7 in. (~17 cm) above the floor in reference to the ROBOT standing normally on a flat floor. BUMPERS do not have to be parallel to the floor. This measurement is intended to be made as if the ROBOT is resting on a flat floor (without changing the ROBOT configuration), not relative to the height of the ROBOT from the FIELD carpet. Examples include: Example 2: A ROBOT deploys a MECHANISM which lifts the BUMPERS outside the BUMPER ZONE (when virtually transposed onto a flat floor). This violates R24</span></span>
<span id="docs-internal-guid-95a47d18-f175-5721-b935-d5f6de61959b"><span style="font-size: 11pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-variant-numeric: normal; font-variant-east-asian: normal; vertical-align: baseline; white-space: pre-wrap;">Prototypes:</span></span>
<br/>https://lh5.googleusercontent.com/JrBjdBsATGBjD2AQQXqt2iPxCr_vTXCSQHSm-cUooM8JOH54Mo2EZpq6tkUCr5Z6BZF8alx7fzFCLMMBMYfor_coxDYFLiDOo-HmQ550iYy118h8e1axQSJb-korqFzIgn8Owiuh<br/><br/><br/><br/><br/><br/><br/><br/>

Revision as of 14:51, 13 January 2018

End Game Subteam

Leads: Mark M, Tai L, Rachel B

Day 1:

Brainstormed concepts of how to climb

Use climbing mechanism that will be able to share bar with another robot

Use climbing mechanism that will take up entire bar but will take another robot up with ours

Create our own ramp that will lift up both robots above 11"


Day 2: 

Began to lean towards making our own ramp for other robots to climb onto

Designed several different concepts for a ramp

Tested measurements and variables for the ramp (Angle, drivebases of other robots, material,etc.)


Day 3:

Started building carboard prototypes

Started putting concepts on CAD

Realized that Null Zone will interefere with the ramp design




Modified Push Up:


Ramp technique with pneumatic cylinders used to change ramp geometry to a flat platform.


https://lh4.googleusercontent.com/MekoOW35vz31CJnARjB4rVHKuy-N8tfDDXj0lGKm2EnUWexKrcTLg86pxK7w8TZk1bIYZ_EdrqITcdXCs5yKOEuIOOwq3jPvJhq6k96U18rtbfPcDcopogwK5zyO66TNBpS3W81V

190 Gomepi and The Heard WORLD CHAMPIONS 2007

Video: https://www.youtube.com/watch?time_continue=128&v=Dd8p13fdYiIWatch at 2:00 Mark

https://lh6.googleusercontent.com/4_Snt8wgzx3yW2jRLid-NUnmw2d1UvyOJy2uF3HFpzFnGp-jO7AKBVZQ7Oo_EPSAd--zjAkMC88sxrJlZaREEPJsYIl2NDLgbgbemo8S72yUE9xNvMfrBgInuiPKUXrxTGNzc0nhhttps://lh4.googleusercontent.com/eJ-f2D2Sb2TYhxDx6flIJA6Dopry6-H-_V4oDxNPSG3YjdYK0ubY93T734d8lqTTZWZ9wKVVshpwT4vPrh5lp6ZA-6QwNWnR7-4AN8q-Bwmr0bLnTNt2kS-LkEkFH7jNiw3D7Lkr



Discussion Notes:

Potentially much safer than climbing

But risk that a robot may not be able to climb us

Other robot may be able to push them up.






Angle tests: 13 15 20 25

Tests were worst case scenarios with 4 inch omni wheels and bumpers with 1.5 inch clearance.


Today Goals:

Get everything on the Wiki

Prototype and cad butterfly

Formula for pneumatic car jack technique


Continued evaluation of the game by strategy revealed that it is possible for an opponent to defend one of our partners from getting on our ramp. If the opponent is touching their null zone they would completely block access to that side of our ramp. Because of this Strategy has given us the following criteria. Ramps must be accessed by robots from the platform zone.


Bumper rules:

We realized that prototypes that drop below our drivetrain violate the bumper rules. The bumper rule states


R24. BUMPERS must be located entirely within the BUMPER ZONE, which is the volume contained between the floor and a virtual horizontal plane 7 in. (~17 cm) above the floor in reference to the ROBOT standing normally on a flat floor. BUMPERS do not have to be parallel to the floor. This measurement is intended to be made as if the ROBOT is resting on a flat floor (without changing the ROBOT configuration), not relative to the height of the ROBOT from the FIELD carpet. Examples include: Example 2: A ROBOT deploys a MECHANISM which lifts the BUMPERS outside the BUMPER ZONE (when virtually transposed onto a flat floor). This violates R24


Prototypes:


https://lh5.googleusercontent.com/JrBjdBsATGBjD2AQQXqt2iPxCr_vTXCSQHSm-cUooM8JOH54Mo2EZpq6tkUCr5Z6BZF8alx7fzFCLMMBMYfor_coxDYFLiDOo-HmQ550iYy118h8e1axQSJb-korqFzIgn8Owiuh