2012:Shooter and Collector: Difference between revisions
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**Geared down 2-to-1 for additional torque (2-to-1 gives stall torque of 6200 oz-lbs = 380 inch-lbs) | **Geared down 2-to-1 for additional torque (2-to-1 gives stall torque of 6200 oz-lbs = 380 inch-lbs) | ||
**2-to-1 gearing gives unloaded single-actuation of about 0.433 sec '''unloaded''' | **2-to-1 gearing gives unloaded single-actuation of about 0.433 sec '''unloaded''' | ||
* Mechanical hard-stops | *Mechanical hard-stops | ||
*Absolute positional sensor | *Absolute positional sensor | ||
*Limit switches on both ends | *Limit switches on both ends | ||
Revision as of 10:14, 22 January 2012
Shooter Design
- Turret-mounted
- Approx. 280 degrees of rotation minimum need final range
- 1-degree precision
- Mechanical hardstops
- Absolute angular position sensor
- Window motor
- Need power controller
- 2-Wheel shooter
- Must be able to impart backspin
- Fixed angle of shot -- approximately 60-70 degrees above floor
- Each wheel independently controlled (to control backspin)
- Powered by Fisher-Price motor on speed controllers
- Sensor for RPM on each
- Provide sufficient resolution for rapid speed control update
- Identify sensor characteristics
- Camera mounted on turret
- Must have direct light source inline with lens
- Must be able to tilt
- Higher is better to see over robots in front of us
- Do we need pan?
2012:Shooter and Collector Camera
Beater Bar Design
- Fixed position within frame, as close to perimeter as possible
- 1 speed forward, 1 speed reverse (full speed? can use relay?)
- Pushes balls in and on to first conveyor section
- Banebots RS-775 motor (need gearing)
Wings/V-collector Design
- V-shaped collector outside of robot
- Articulated up/in and down/out -- 2-position motion
- Just a plain bars, no actual motion on the bars themselves
- Motion must be able to pull unloaded bridge down from horizontal
- Must extert 10lbs force at the tip to pull the unloaded bridge
- AM-0914 motor and associated gearbox
- Geared down 2-to-1 for additional torque (2-to-1 gives stall torque of 6200 oz-lbs = 380 inch-lbs)
- 2-to-1 gearing gives unloaded single-actuation of about 0.433 sec unloaded
- Mechanical hard-stops
- Absolute positional sensor
- Limit switches on both ends
Ball Movement/Storage System Design
- Uses Banebots RS-775 motors [1]
- Banebots P60 16-to-1 transmissions [2]
- Two designs - not decided yet. DECIDE ME
- See drawings on shop wall
Resources
- Ball Trajectory Calculation spreadsheet
- Math behind the above spreadsheet
- Foil Sim III - Air flow simulator; useful for approximating drag effects on a ball
- Motor Specs from FIRST
Shooter and Collector Master Task List
Shooter and Collector's Engineering Notebook
Week 1
Week 2
Week 3
Week 4
Week 5
Week 6
Engineering Notebook Templates Available at:Engineering_Notebook_Template
Please Label All Notebook Pages 2012:Shooter and Collector XX.XX to avoid confusion.
