2019:Robot Design Details: Difference between revisions
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| style="width: 42px;" | '''Number of Cylinders''' | | style="width: 42px;" | '''Number of Cylinders''' | ||
| style="width: 74px;" | '''Cylinder''' | | style="width: 74px;" | '''Cylinder''' | ||
| '''Extend Powered?''' | | | ||
| '''Extend Exhaust to Atmosphere?''' | '''Extend Powered?''' | ||
| '''Retract Powered?''' | |||
| '''Retract Exhaust to Atmosphere?''' | | ||
| | |||
'''Extend Exhaust to Atmosphere?''' | |||
| |||
| | |||
'''Retract Powered?''' | |||
| |||
| | |||
'''Retract Exhaust to Atmosphere?''' | |||
| |||
| '''Working Pressure''' | | '''Working Pressure''' | ||
| '''Estimated Firings per Match'''<br/> (Sum of all powered directions!) | | '''Estimated Firings per Match Cycles'''<br/> (Sum of all powered directions!) | ||
| '''Notes''' | | '''Notes''' | ||
|- | |- | ||
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| style="width: 42px;" | 1 | | style="width: 42px;" | 1 | ||
| style="width: 74px;" | | | style="width: 74px;" | | ||
Bimba | Bimba | ||
3/4" Bore, 1" Stroke | |||
| Yes | | Yes | ||
| Yes | | Yes | ||
| | | Yes | ||
| Yes | |||
| | | | ||
50 PSI | |||
| | | 36 | ||
| | | | ||
Trunnion Front Mount | |||
|- | |- | ||
| Cargo | | Cargo | ||
| | | | ||
Extend= | Extend=Positions Wheels for Pickup | ||
Retract= | Retract= Moves Wheels Away for Hatch | ||
| style="width: 42px;" | 2 | | style="width: 42px;" | 2 | ||
| style="width: 74px;" | | | style="width: 74px;" | | ||
McMaster-Carr | |||
1 1/16" Bore, 7" Stroke | |||
| | | Yes | ||
| | | Yes | ||
| | | Yes | ||
| | | | ||
| | Yes | ||
| | |||
| | | 50 PSI | ||
| 6 | |||
| Worst Case Game | |||
|- | |- | ||
| Elevator | | Elevator | ||
| | | | ||
Extend = Places elevator in match position | |||
Retract = Places elevator in starting config. | |||
| style="width: 42px;" | 1 | | style="width: 42px;" | 1 | ||
| style="width: 74px;" | | | style="width: 74px;" | | ||
McMaster-Carr | |||
1.5" bore 8" stroke | |||
| | | Yes | ||
| | | Yes | ||
| | | Yes | ||
| | | Yes | ||
| | | 50 PSI | ||
| 2 | | 2 | ||
| Depending on if we do defense | |||
|- | |- | ||
| Elevator Brake | | Elevator Brake | ||
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| style="width: 42px;" | 1 | | style="width: 42px;" | 1 | ||
| style="width: 74px;" | | | style="width: 74px;" | | ||
McMaster-Carr | |||
3/4" Bore, 1" Stroke | |||
| No | | No | ||
| N/A | |||
| Yes | | Yes | ||
| | | N/A | ||
| | | 50 PSI | ||
| | | | ||
| 34 | ||
| | | | ||
| |||
|- | |- | ||
| | | | ||
Habitat Lift - Robot Front | |||
Retract = | | ||
| | |||
Extend = lifts the robot | |||
Retract = Moves Rods Out of the Way to Allow Robot on Platform | |||
| style="width: 42px;" | 2 | | style="width: 42px;" | 2 | ||
| style="width: 74px;" | | | style="width: 74px;" | | ||
McMaster-Carr | |||
2" bore, 22" stroke | |||
| | | Yes | ||
| Yes | |||
| Yes | |||
| Yes | | Yes | ||
| | | 50 PSI | ||
| | | | ||
2 | |||
| | | | ||
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|- | |- | ||
| | | Habitat Lift - Robot Rear | ||
Habitat Lift | |||
| | | | ||
Extend = lifts the robot | Extend = lifts the robot | ||
Retract = | Retract = Brings Rods Up Enough To Not Be Supported On Level 1 | ||
| style="width: 42px;" | 2 | | style="width: 42px;" | 2 | ||
| style="width: 74px;" | | | style="width: 74px;" | | ||
McMaster-Carr | |||
2" bore, 22" stroke | 2" bore, 22" stroke | ||
| Yes | | Yes | ||
| Yes | | Yes | ||
| Yes | | Yes | ||
| | | Yes | ||
| | | 50 PSI | ||
2 | | 2 | ||
| | |||
| | |||
| |||
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= Sensor Chart = | = Sensor Chart = | ||
Revision as of 15:34, 13 January 2019
Overall design decisions, notes, specifications, and integration items here! Integration Task List (NEEDS LINK HERE)
Overall Robot Dimensional Restraints
Last updated: 1/9/2019
Length | Width | Perimeter | |
---|---|---|---|
Robot Boundary | 34.25" | 25" |
118.5 |
Drive Base Materials
Function | Material |
---|---|
Perimeter Rail (Long Side) | 1"x3"x1/8" 6061 Aluminum Angle Stock |
Inner Rail (Long Side) | 1"x3"x1/8" 6061 Aluminum Channel Stock |
Perimeter Rail (Short Side) | TBD |
Actuators
THE FOLLOWING TABLES ARE COPIES OF 2018's TABLES AND HAVE BEEN LEFT FOR ILLUSTRATION ONLY - DO NOT USE FOR 2019! Please delete the above note and replace content of the tables below with 2019-relevant information once available.
Motors
Mechanism | Action | Minimum Breaker Size | Motor Model # | Quantity | Notes |
Hatch | picks up and deploys the hatch | n/a | see pneumatic actuators | ||
Cargo | picks up and deploys the cargo | ? tbd | non CIM | 1-2 | need to determine side to side or vertical wheels |
Elevator | moves the cube and hatch mechanisms up and down | ? tbd | non CIM | 2 |
gear ratio tbd |
Elevator | rotates the elevator in and out of frame perimeter | n/a | planned to be a piston | ||
Habitat |
Lifts the robot onto level 2 or 3 |
n/a |
see pneumatic actuators | ||
Habitat | rotates wheels/skids in front of bumpers | tbd | could be piston | ||
Drive Base | Moves the robot | 40A | CIM | 4 |
Gear ratio 14:68 option to add two additional motors option to swap out CIMs to Neos |
Pneumatics
Mechanism | Action - Say what extend and retract do! | Number of Cylinders | Cylinder |
Extend Powered?
|
Extend Exhaust to Atmosphere?
|
Retract Powered?
|
Retract Exhaust to Atmosphere?
|
Working Pressure | Estimated Firings per Match Cycles (Sum of all powered directions!) |
Notes |
Hatch | Extend = raises the hook Retract = lowers the hook |
1 |
Bimba 3/4" Bore, 1" Stroke |
Yes | Yes | Yes | Yes |
50 PSI |
36 |
Trunnion Front Mount |
Cargo |
Extend=Positions Wheels for Pickup Retract= Moves Wheels Away for Hatch |
2 |
McMaster-Carr 1 1/16" Bore, 7" Stroke |
Yes | Yes | Yes |
Yes |
50 PSI | 6 | Worst Case Game |
Elevator |
Extend = Places elevator in match position Retract = Places elevator in starting config. |
1 |
McMaster-Carr 1.5" bore 8" stroke |
Yes | Yes | Yes | Yes | 50 PSI | 2 | Depending on if we do defense |
Elevator Brake |
Extend (spring loaded extension) = disengage brake Retract = Engage brake |
1 |
McMaster-Carr 3/4" Bore, 1" Stroke |
No | N/A | Yes | N/A | 50 PSI |
34 |
|
Habitat Lift - Robot Front
|
Extend = lifts the robot Retract = Moves Rods Out of the Way to Allow Robot on Platform |
2 |
McMaster-Carr 2" bore, 22" stroke |
Yes | Yes | Yes | Yes | 50 PSI |
2 |
|
Habitat Lift - Robot Rear |
Extend = lifts the robot Retract = Brings Rods Up Enough To Not Be Supported On Level 1 |
2 |
McMaster-Carr 2" bore, 22" stroke |
Yes | Yes | Yes | Yes | 50 PSI | 2 |
Sensor Chart
Mechanism | Sensor Type | Function | Attachment Point | Notes |
Hatch | proximity sensor | to confirm that we have the hatch in the hook | ||
Hatch | Camera/vision | knowing that we are aligned with the port | ||
Cargo | Beam Break | knowing that we have acquired the ball | ||
Cargo | Camera/vision | knowing that we are aligned with the port | ||
Elevator | Encoder | a way to do vertical positioning | ||
Habitat | not being able to drive forwards | knowing that both skids are against the platform | ||
Drive | encoders | Travel of robot drive base. One phase | On idler shaft | |
Whole robot | gyro | Sense rotation | Must be center of rotation of robot away from excessive vibration sources | |
Whole robot | Camera |
Lining up the cargo and the hatch panels, and driving durning sandstorm |