2009:Robot Design Details: Difference between revisions

Revision as of 08:50, 14 January 2009

General layout design of the robot, Dimensions ARE NOT exact.

4-wheel drive
Banebots Transmissions
4 2.5" CIM motors
Victor 884 [Drive] Speed Controllers
Fixed wheels (slip-style steering)
Banebots encoders on each wheel (http://banebots.com/pc/ELECTRONICS/EN-G0561-KT) -- mounted at transmission outputs.
27.25” LONG x 37.25” WIDE
Rear wheel axis at 5.625 from most rear surfaces (adjustable down to 4.625 corner brace regime permitting)
Front wheel axis at 11.625 from front most surfaces (adjustable ± 2.00”)

Still need to determine a few hardware items but I think we could use a few PEM fasteners to further minimize fastener system weight
We will need to design a few spacers “on the fly” as we determine the best approach while building
The 6-hole patterns in the wheels need to be tapped for 10-32 Depth TBD
Need to add the stiffener element between the wheels (1/side 1”x1” ext. Al stock is light and will work well and can be welded)
Need to cut necessary smaller frame elements from stock
Need to design in provisions for front “dummy wheels” biased 1/8” up for roll over protection

Open top entry for human player introduction
Entry from conveyor at top of robot; entry controlled by upper ejector
Exit is a "trap door" at the bottom of the hopper down to the area behind the lower ball collector and at the base of the conveyor system.
Trap door and Lower collection blocker powered by Nippon Denso Window motor (possibly a rack & pinion arrangement?)
Two Limit Switches sensors to tell when door is in open/closed position
Jaguar speed controller

Two conveyors opposite each other, working together to move balls from ball intake and/or below the ball hopper up to the upper ball ejector/hopper entry point.
Powered by two independent motors (RS-545 Banebots motors with 25:1 reduction gearboxes)
Likely NOT direct drive, will likey be chain/sprocket to save space and move weight back on robot
Banner Sensors: 42SMR-7100 Reciever and 42SML-7100 Source Mounted either at the top of conveyor load or bottom
Jaguar speed controller
Sensor to detect that conveyor is full

Spinning ejector directs, based on direction, balls out of robot or in to hopper entry point.
Powered by Fischer Price 00968-2910 motor with plastic gearbox removed and TBD Transmission to be added
Likely NOT direct drive, will be chain/sprocket to save space and move weight back on robot
Jaguar speed controller

@@ Line 5: / Line 5: @@
 [[Image:Scoring 1.jpg|424x300px]]&nbsp;[[Image:Empty Cell 1.jpg|247x225px]]&nbsp;[[Image:Collecting_1.jpg|236x225px]]<br>
-== Drivetrain<br> ==
+== Drivetrain<br>  ==
 *4-wheel drive
@@ Line 11: / Line 11: @@
 *4 2.5" CIM motors
 *Victor 884 [Drive] Speed Controllers
 *Fixed wheels (slip-style steering)<br>
 *Banebots encoders on each wheel (http://banebots.com/pc/ELECTRONICS/EN-G0561-KT) -- mounted at transmission outputs.
 *27.25” LONG x 37.25” WIDE<br>
 *Rear wheel axis at 5.625 from most rear surfaces (adjustable down to 4.625 corner brace regime permitting) <br>
 *Front wheel axis at 11.625 from front most surfaces (adjustable ± 2.00”)
+[[Image:Red_flag.gif|Please Update!]]
 *Still need to determine a few hardware items but I think we could use a few PEM fasteners to further minimize fastener system weight
 *We will need to design a few spacers “on the fly” as we determine the best approach while building
@@ Line 23: / Line 26: @@
 *Need to design in provisions for front “dummy wheels” biased 1/8” up for roll over protection
 <br>
 [[Image:Drivetrain 01-08-2009.jpg|Current Drivetrain design as of 01/08/2009]]<br>
 <br>