2019:Robot Design Details: Difference between revisions

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== Pneumatics (2018 COPY REMOVE THIS NOTE WHEN UPDATED FOR 2019!) ==
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== Pneumatics&nbsp; ==


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| '''Mechanism'''
| '''Mechanism'''
| '''Action - Say what extend and retract do!'''
| '''Action - Say what extend and retract do!'''
| '''Cylinder'''
| style="width: 42px;" | '''Number of Cylinders'''
| style="width: 74px;" | '''Cylinder'''
| '''Extend Powered?'''
| '''Extend Powered?'''
| '''Extend Exhaust to Atmosphere?'''
| '''Extend Exhaust to Atmosphere?'''
Line 144: Line 146:
| '''Notes'''
| '''Notes'''
|-
|-
| &nbsp;
| Hatch
| Extend = raise intake into robot<br/> Retract = lower intake to retrieve cubes
| Extend = raises the hook<br/> Retract = lowers the hook
| Bimba M-044-DP. Magnetic 3/4" bore 4" stroke, pivot mount
| style="width: 42px;" | 1
| style="width: 74px;" |
Bimba tbd&nbsp;
 
estimated 3/4" bore 1" stroke
 
| Yes
| Yes
| no
| no ?possibly spring loaded
| Yes
| Yes
| Yes
| 40 PSI
| Yes
| &nbsp;12 (24 if not spring loaded)
| 60 PSI
|
| &nbsp;40
&nbsp;
 
|-
| Hatch
|
Extend = brings it out past the cargo
 
Retract= brings it back in
 
| style="width: 42px;" | 1
| style="width: 74px;" |
Bimba tbd&nbsp;
 
estimated 3/4" bore 2-4" stroke
 
| yes
| no
| yes
| no
| 40 psi
| 24
| &nbsp;
|-
| Cargo (side wheels)
|
Extend=brings the wheels into the cargo
 
Retract= opens the wheels
 
| style="width: 42px;" | 2
| style="width: 74px;" |
Bimba tbd&nbsp;
 
estimated 3/4" bore 3" stroke
 
| yes
| yes
| yes
| yes
| 40 psi
| 24 *
| * total cycles of cargo and hatch combined will not exceed 12 (24 if dual action)
|-
| Elevator
|  
|  
Assumes a defensive game (retract to prevent damage)
extend= places elevator in match position
 
retract= places elevator in starting config.


RB1 on order
| style="width: 42px;" | 1
| style="width: 74px;" |
Bimba tbd&nbsp;


RB2 on shelf
estimated 1.5" bore 18" stroke


| yes
| yes
| yes
| yes
| 60 psi
| 2 (depending on if we do defense)
| &nbsp;
|-
|-
| Arm Brake
| Elevator Brake
|  
|  
Extend (spring loaded extension) = disengage brake
Extend (spring loaded extension) = disengage brake
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Retract = Engage brake
Retract = Engage brake


| Bimba 041-D. 3/4" bore 1" stroke
| style="width: 42px;" | 1
| style="width: 74px;" | Bimba 041-D. 3/4" bore 1" stroke
| No
| No
| Yes
| Yes
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| 60 PSI
| 60 PSI
|  
|  
&nbsp;40
&nbsp;18
 
''(Review comment: Would expect this to be greater than # of intake firings even under severe defense due to uncertainty of how to use cube and putting in "up" position for any substantial movement)''


|  
|  
2 cubes auto, 8 cubes vault, 8-10 cubes switch @ 2 x per cube&nbsp;
12 cycles plus adjustment factor&nbsp;
 
Rb1 & RB2 on shelf


|-
|-
| Hand on Arm
| Habitat skids
| Retract = "close" hand, tighten on cube<br/> Extend = "open" hand, loosen grip on cube
| Bimba 042-D. 3/4" bore 2" stroke
| No
| Yes
| Yes
| Yes
| &nbsp;?? PSI - 60 may be too high
|  
|  
20
Extend = deploys the skids


''(Review comment: Thought the plan was this does not fire at all and acts as an "air spring"?)''
Retract = brings the skids back in


&nbsp;
| style="width: 42px;" | 2
| style="width: 74px;" |
Bimba tbd
 
3/4" bore 2" stroke


| yes
| Yes
| no
| no
| 60 psi
|  
|  
2 cubes auto, 8 cubes vault, 8-10 cubes switch&nbsp;
1


RB1 & RB2 on shelf
|
&nbsp;


|-
|-
|  
|  
Lifts/Ramps
Habitat Lift


(One cylinder per platform/ramp but they are plumbed together on same solenoid)
&nbsp;


|  
|  
Hold/Release ramp system. Extend = hold ramps up
Extend = lifts the robot


Retract = release ramps to ground level
Retract = keeps us from being technically supported by level one


&nbsp;
| style="width: 42px;" | 2
| style="width: 74px;" |
Bimba tbd&nbsp;


|
2" bore, 22" stroke
Bimba 061.5-DXDE&nbsp; 7/8" bore, 1.5" stroke
 
Double acting, double ended


| &nbsp;Yes
| &nbsp;Yes
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| 60 PSI
| 60 PSI
|  
|  
1
2
 
&nbsp;
 
&nbsp;


|  
|  
Starts match under pressure
Modifying mounting to use 3/4" bore, 2" stroke double acting on hand.&nbsp; Will cut off 1/4" pf threaded end and grind down remaining threads.&nbsp;
RB1 & RB2 on shelf.
&nbsp;
&nbsp;


Consider we may not need to start match under pressure - all loads lateral.&nbsp;&nbsp;
|}


|}
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Revision as of 10:32, 12 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" 24" 116"

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
(Sum of all powered directions!) 		Notes
Hatch Extend = raises the hook
Retract = lowers the hook 		1

Bimba tbd 

estimated 3/4" bore 1" stroke

Yes no no ?possibly spring loaded Yes 40 PSI  12 (24 if not spring loaded)

 

Hatch

Extend = brings it out past the cargo

Retract= brings it back in

1

Bimba tbd 

estimated 3/4" bore 2-4" stroke

yes no yes no 40 psi 24  
Cargo (side wheels)

Extend=brings the wheels into the cargo

Retract= opens the wheels

2

Bimba tbd 

estimated 3/4" bore 3" stroke

yes yes yes yes 40 psi 24 * * total cycles of cargo and hatch combined will not exceed 12 (24 if dual action)
Elevator

extend= places elevator in match position

retract= places elevator in starting config.

1

Bimba tbd 

estimated 1.5" bore 18" stroke

yes yes yes yes 60 psi 2 (depending on if we do defense)  
Elevator Brake

Extend (spring loaded extension) = disengage brake

Retract = Engage brake

1 Bimba 041-D. 3/4" bore 1" stroke No Yes Yes Yes 60 PSI

 18

12 cycles plus adjustment factor 

Habitat skids

Extend = deploys the skids

Retract = brings the skids back in

2

Bimba tbd

3/4" bore 2" stroke

yes Yes no no 60 psi

1

 

Habitat Lift

 

Extend = lifts the robot

Retract = keeps us from being technically supported by level one

2

Bimba tbd 

2" bore, 22" stroke

 Yes Yes Yes Yes 60 PSI

2

 

Sensor Chart (2018 COPY REMOVE THIS NOTE WHEN UPDATED FOR 2019!)

Mechanism Sensor Type Function Attachment Point Notes
Intake Magnetic reed switches (2) on pivot cylinder Senses when cylinder has completed up and down motion On cylinder  
Arm Potentiometer Absolute rotation position of arm. On actual pivot/shaft.  
Arm Limit Switch Tripped at end of travel/at hard stop on front of robot Left side A-frame top front   
Arm  Limit Switch Tripped at end of travel/at hard stop on back of robot Left side A-frame top back   
Hand on Arm Retro-reflective beam sensor Sense cube all the way into hand Mounting is important! Must look "sideways" at the cube where it hits the backstop.  
Ramp Integrated Versa Planetary Encoder Sense travel and speed of lead screw on lift jacks
One phase 		4 total, 1 on each jack - Sensor should be at output stage of each gearbox  
Ramp To be Determined Sense when ramp jacks are fully reset (not used during match) 4 total, 1 on each jack - ADD MOUNTING DETAILS ONCE SENSOR IS KNOWN  
Drive Shaft encoders Travel of robot drive base. One phase On center (traction) wheel shaft.  
Whole robot Gyro Sense rotation Must be center of rotation of robot away from excessive vibration sources  
Whole robot Camera

Visual feedback for lining up with exchange?

MS LifeCam HD USB camera

 On the back left corner of the robot in the area set aside in cad  


Archive

2018 Robot Design Details

2017 Robot Design Details

2016 Robot Design Details

2015 Robot Design Details

2014 Robot Design Details

2013 Robot Design Details

2012 Robot Design Details

2011 Robot Design Details

2010 Robot Design Details

2009 Robot Design Details

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