2010:Robot Design Details: Difference between revisions
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= Drivetrain Design = | = Drivetrain Design = | ||
*4 Direct Drive CIM Motors | *4 Direct Drive CIM Motors | ||
*16:1 Banebots Transmissions | *16:1 Banebots Transmissions | ||
*2 Traction Wheels in the Front | *2 Traction Wheels in the Front | ||
*2 Omni Wheels in the back | *2 Omni Wheels in the back | ||
'''Main Goals:''' | '''Main Goals:''' | ||
*Be able to go over the bumps | *Be able to go over the bumps | ||
*Be manueverable | *Be manueverable | ||
*Keep Balls from going underneath the robot | *Keep Balls from going underneath the robot | ||
= Mechanical 1 Design - Lift & Structure<br> = | = Mechanical 1 Design - Lift & Structure<br> = | ||
*Using a mechanical telescope driven by pushing a cable up a tube to lift a hook | *Using a mechanical telescope driven by pushing a cable up a tube to lift a hook | ||
*Designed to lift the robot from either side off of the bump | *Designed to lift the robot from either side off of the bump | ||
*Has a pivoting mechanism that angles the telescope to the left or right depending on which side of the tower the robot is on | *Has a pivoting mechanism that angles the telescope to the left or right depending on which side of the tower the robot is on | ||
*Hook has a shepards crook design to be able to easily grab the high bar | *Hook has a shepards crook design to be able to easily grab the high bar | ||
*Winch pulls the telescoping tube back towards the robot to lift the robot off the ground | *Winch pulls the telescoping tube back towards the robot to lift the robot off the ground | ||
*Should be able to lift above needed height in under 5 seconds | *Should be able to lift above needed height in under 5 seconds | ||
*Using CIM Motor, but may be able to use Fischer Price if necessary | *Using CIM Motor, but may be able to use Fischer Price if necessary | ||
'''Main Goals:''' | '''Main Goals:''' | ||
*Lift Robot above platform height as fast as possible (faster than 5 seconds) | *Lift Robot above platform height as fast as possible (faster than 5 seconds) | ||
*Create an upper structure that supports the lift mechanism | *Extend lift and capture bar in under 5 seconds. | ||
*Create an upper structure that deflects balls | *Create an upper structure that supports the lift mechanism | ||
*Create an upper structure that deflects balls | |||
*Create an upper structure that potentially deflects balls towards the front of the robot | *Create an upper structure that potentially deflects balls towards the front of the robot | ||
= Mechanical 2 Design - Kicker & Beater Bar<br> = | = Mechanical 2 Design - Kicker & Beater Bar<br> = | ||
*Using 2 window motors and an electronic clutch | *Using 2 window motors and an electronic clutch | ||
*Uses a "thunderfoot" kicker springloaded with surgical tubing to kick the ball | *Uses a "thunderfoot" kicker springloaded with surgical tubing to kick the ball | ||
*Kicker will have variable positioning to kick ball different distances | *Kicker will have variable positioning to kick ball different distances | ||
*Beater bar is a simple spinning bar in the front of the robot that just spins to pull the balls into the robot and hold them while turning | *Beater bar is a simple spinning bar in the front of the robot that just spins to pull the balls into the robot and hold them while turning | ||
'''Main Goals:''' | '''Main Goals:''' | ||
*Be able to kick the ball at distances from all 3 locations on the field (near, middle, far) | *Be able to kick the ball at distances from all 3 locations on the field (near, middle, far) | ||
*Be able to score the ball when in the near zone | *Be able to score the ball when in the near zone | ||
*Be able to control/possess balls while driving around the field | *Be able to control/possess balls while driving around the field | ||
= Motors List = | = Motors List = | ||
*4 CIM Motors - Drivetrain | *4 CIM Motors - Drivetrain | ||
*1 CIM Motor - Lifter | *1 CIM Motor - Lifter: Winch & Pushing cable | ||
*TBD Motor - Pivoting Mechanism | *TBD Motor - Pivoting Mechanism<br> | ||
*2 Window Motors - Kicker | |||
*2 Window Motors - Kicker | *TBD Motor - Beater Bar | ||
*TBD Motor - Beater Bar | *2 Fisher Price, 2 Window motors, and 2 Mabuchi motors remaining | ||
= Sensors List = | = Sensors List = | ||
*4 Banebots Encoders - Drivetrain | *4 Banebots Encoders - Drivetrain | ||
*1 TBD Encoder - Electronic Clutch | *1 TBD Encoder - Electronic Clutch | ||
*1 BeamBreak Sensor - Ball Kicker | *1 BeamBreak Sensor - Ball Kicker | ||
= Autonomous Modes = | = Autonomous Modes = | ||
= Archive = | = Archive = | ||
[[Robot Design Details|2009 Robot Design Details]] | [[Robot Design Details|2009 Robot Design Details]] | ||
Revision as of 12:50, 24 January 2010
2010 Main Robot Design
Drivetrain Design
- 4 Direct Drive CIM Motors
- 16:1 Banebots Transmissions
- 2 Traction Wheels in the Front
- 2 Omni Wheels in the back
Main Goals:
- Be able to go over the bumps
- Be manueverable
- Keep Balls from going underneath the robot
Mechanical 1 Design - Lift & Structure
- Using a mechanical telescope driven by pushing a cable up a tube to lift a hook
- Designed to lift the robot from either side off of the bump
- Has a pivoting mechanism that angles the telescope to the left or right depending on which side of the tower the robot is on
- Hook has a shepards crook design to be able to easily grab the high bar
- Winch pulls the telescoping tube back towards the robot to lift the robot off the ground
- Should be able to lift above needed height in under 5 seconds
- Using CIM Motor, but may be able to use Fischer Price if necessary
Main Goals:
- Lift Robot above platform height as fast as possible (faster than 5 seconds)
- Extend lift and capture bar in under 5 seconds.
- Create an upper structure that supports the lift mechanism
- Create an upper structure that deflects balls
- Create an upper structure that potentially deflects balls towards the front of the robot
Mechanical 2 Design - Kicker & Beater Bar
- Using 2 window motors and an electronic clutch
- Uses a "thunderfoot" kicker springloaded with surgical tubing to kick the ball
- Kicker will have variable positioning to kick ball different distances
- Beater bar is a simple spinning bar in the front of the robot that just spins to pull the balls into the robot and hold them while turning
Main Goals:
- Be able to kick the ball at distances from all 3 locations on the field (near, middle, far)
- Be able to score the ball when in the near zone
- Be able to control/possess balls while driving around the field
Motors List
- 4 CIM Motors - Drivetrain
- 1 CIM Motor - Lifter: Winch & Pushing cable
- TBD Motor - Pivoting Mechanism
- 2 Window Motors - Kicker
- TBD Motor - Beater Bar
- 2 Fisher Price, 2 Window motors, and 2 Mabuchi motors remaining
Sensors List
- 4 Banebots Encoders - Drivetrain
- 1 TBD Encoder - Electronic Clutch
- 1 BeamBreak Sensor - Ball Kicker
