2010:Robot Design Details

2010 Main Robot Design

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CURRENT TOTAL WEIGHT ESTIMATE: 80lbs(without lifter factored in)

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

WEIGHT ESTIMATE: 50lbs

Mechanical 1 Design - Lift & Structure

• Using a mechanical 4 section 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 1 CIM Motor,

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

WEIGHT ESTIMATE: (tbd)lbs

Mechanical 2 Design - Kicker & Beater Bar

• Using 2 window motors and an electromagnet release
• 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

WEIGHT ESTIMATE: 30lbs

Electrical System

• 7 Jaguar Speed Controllers (main drive motors, lifting arm winch, lifting arm tilt, front thrasher)
• Power Distribution Board
• 120 amp Circuit Breaker
• Digital I/O sidecar
• Linksys Router
• 4 Spike Relays (2 for kicker motors, 2 electromagnets)
• cRIO (1 analog module, 1 digital modules) with 1 Digital Side Car
• Indicator Light
• Camera & mount (just tilt servo) 
• Wires
• Magic

        Main Goals:

• To Give all mechanical components power
• To give sensor readbacks that programming and operators need
• Make sure that the magic smoke that makes up all electrical components does not escape

WEIGHT ESTIMATE: 13 lbs

Motors List

• 4 CIM Motors - Drivetrain, driven by 4 Jaguars
• 1 CIM Motor - Lifter: Winch & Pushing cable, driven by Jaguar
• 1 Window Motor - Pivoting Mechanism, driven by Jaguar
  
• 2 Window Motors - Kicker, driven by 2 spike relays (maybe Victors) 
• 1 Fisher Price Motor - Thrasher, driven by Jaguar
• 1 Camera Servo
• 1 Locking Servo for telescopic arm

Remaining Motors

• 1 Fisher Price, 1 Window motor, and 2 Mabuchi motors remaining

Sensors List

• 4 Banebots Encoders - Drivetrain
• 1 magnetic rotation sensor - Determine relative posistion of kicker pull back mechanism
• 1 BeamBreak Sensor - Ball Kicker
• 2 limit switches for kicker motors
• 1 photoreflective sensir for electromagnet contacting kicker
• Gyro
• Camera
• 1 analog sensor - winch for lift
• 1 limit switch for lift (max retract)

Autonomous Modes

   0.  Do nothing

1. Near Zone: score 1 ball with dead reckoning
   • ball placed in corner of 9x9 grid near goal
   • robot placed against bump and angled to create straight line between it, the ball and the goal
   • move to ball, move ball closer to goal (if needed), kick ball into goal, backup out of the way
2. Near Zone: score 1 ball with camera guidance
   • ball placed in corner of 9x9 grid near goal
   • robot placed against bump and angled to create straight line between it, the ball and the goal
   • move to ball, move ball closer to goal (if needed), align with target, kick ball into goal, backup out of the way
3. Near Zone: score 1 ball with camera guidance and look for more balls
   • same as "Near Zone: score 1 ball with camera guidance"
   • search for more balls: pivot right and left looking for ball, drive to ball, align with target, kick ball into goal, backup
4. Middle Zone: score 2 balls with dead reckoning
   • ball 1 placed in corner of 9x9 grid near bump & center line
   • ball 2 placed in center
   • robot placed against bump and angled to create straight line between it, ball 1 and the goal
   • move to ball 1, kick ball 1, turn towards ball 2, move to ball 2, turn back towards goal, kick ball 2, backup out of the way
5. Middle Zone: score 2 balls with camera guidance
   • ball 1 placed in corner of 9x9 grid near bump & center line
   • ball 2 placed in center
   • robot placed against bump and angled to create straight line between it, ball 1 and the goal
   • move to ball 1, align with target, kick ball 1, turn towards ball 2, move to ball 2, align with target, kick ball 2, backup out of the way
6. Far Zone: kick 3 balls with dead reckoning
   • balls placed along edge of field (in front of each other on 9x9)
   • robot goes against ramp in front of goal, not angled, to create a straight line between it, all 3 balls and the goal
   • move to ball 1, kick ball 1, move to ball 2, kick ball 2, move to ball 3, kick ball 3

In all cases:

• Will allow for a delayed start
• Tilt down camera prior to tele-op mode

Archive

2009 Robot Design Details