2018:End Game Mechanism

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"

- Two ramps fold down, one end being fixed at around 11" above the platfrom and other end starting on the carpet, carpet end would raise up to around 11"

- Same as first concept, except rather than having ramp start at carpet, it would start at the top edge of the platform

- Two ramps fold down, most of ramp is parallel and 11" above platform and at the end, it folds down at the same angle of the edge of the platform

- Two ramps fold out like a butterlfy (folds twice), first fold will have top of ramp at 11" above platform, 33" by 33", and second fold will extend down to the carpet where robots can drive up it 

- Use a climbing mechanism that would take up entire bar but would be able to take another robot up with us

- Use a climging mehcanism that would be small enough to share bar with another robot

- Have bar on bottom of robot, would have another robtot connect on bottom after we are all the way up

Day 2

Designed several different concepts for a ramp

Tested measurements and variables for the ramp (Angle tests: 13 15 20 25,Tests were worst case scenarios with 4 inch omni wheels and bumpers with 1.5 inch clearance.)

Started to lean more towards building a ramp for other robots to climb up

Day 3

Started building carboard prototypes

Started putting concepts on CAD

Realized that Null Zone will interefere with the ramp design

Began to think of how we would actuate certain designs ( Thinking about using pneumatics, car jacks)

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.

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