2019:Robot Design Details: Difference between revisions

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| style="width: 42px;" | '''Number of Cylinders'''
| style="width: 42px;" | '''Number of Cylinders'''
| style="width: 74px;" | '''Cylinder'''
| style="width: 74px;" | '''Cylinder'''
| '''Extend Powered?'''
|  
| '''Extend Exhaust to Atmosphere?'''
'''Extend Powered?'''
| '''Retract Powered?'''
 
| '''Retract Exhaust to Atmosphere?'''
&nbsp;
 
|  
'''Extend Exhaust to Atmosphere?'''
 
&nbsp;
 
|  
'''Retract Powered?'''
 
&nbsp;
 
|  
'''Retract Exhaust to Atmosphere?'''
 
&nbsp;
 
| '''Working Pressure'''
| '''Working Pressure'''
| '''Estimated Firings per Match'''<br/> (Sum of all powered directions!)
| '''Estimated Firings per Match Cycles'''<br/> (Sum of all powered directions!)
| '''Notes'''
| '''Notes'''
|-
|-
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| style="width: 42px;" | 1
| style="width: 42px;" | 1
| style="width: 74px;" |  
| style="width: 74px;" |  
Bimba tbd&nbsp;
Bimba


estimated 3/4" bore 1" stroke
3/4" Bore, 1" Stroke


| Yes
| Yes
| no
| no ?possibly spring loaded
| Yes
| Yes
| 40 PSI
| Yes&nbsp;
| &nbsp;12 (24 if not spring loaded)
| Yes
|  
|  
&nbsp;
50 PSI


|-
| &nbsp;36&nbsp;
| Hatch
|  
|  
Extend = brings it out past the cargo
Trunnion Front Mount


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)
| Cargo&nbsp;
|  
|  
Extend=brings the wheels into the cargo
Extend=Positions Wheels for Pickup


Retract= opens the wheels
Retract= Moves Wheels Away for Hatch


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


estimated 3/4" bore 3" stroke
&nbsp;1 1/16" Bore, 7" Stroke


| yes
| Yes
| yes
| Yes
| yes
| Yes
| yes
|  
| 40 psi
Yes
| 24 *
 
| * total cycles of cargo and hatch combined will not exceed 12 (24 if dual action)
| 50 PSI
| 6
| Worst Case Game
|-
|-
| Elevator
| Elevator
|  
|  
extend= places elevator in match position
Extend = Places elevator in match position


retract= places elevator in starting config.
Retract = Places elevator in starting config.


| style="width: 42px;" | 1
| style="width: 42px;" | 1
| style="width: 74px;" |  
| style="width: 74px;" |  
Bimba tbd&nbsp;
McMaster-Carr&nbsp;


estimated 1.5" bore 18" stroke
&nbsp;1.5" bore&nbsp; 8" stroke


| yes
| Yes
| yes
| Yes
| yes
| Yes
| yes
| Yes
| 60 psi
| 50 PSI
| 2 (depending on if we do defense)
| 2
| &nbsp;
| Depending on if we do defense
|-
|-
| Elevator Brake
| Elevator Brake
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| style="width: 42px;" | 1
| style="width: 42px;" | 1
| style="width: 74px;" | Bimba 041-D. 3/4" bore 1" stroke
| style="width: 74px;" |  
McMaster-Carr&nbsp;
 
3/4" Bore, 1" Stroke&nbsp;
 
| No
| No
| N/A
| Yes
| Yes
| Yes
| N/A
| Yes
| 50 PSI
| 60 PSI
|  
|  
&nbsp;18
&nbsp;34


|  
|  
12 cycles plus adjustment factor&nbsp;
&nbsp;


|-
|-
| Habitat skids
|  
|  
Extend = deploys the skids
Habitat Lift - Robot Front


Retract = brings the skids back in
&nbsp;
 
|
Extend = lifts the robot
 
Retract = Moves Rods Out of the Way to Allow Robot on Platform


| style="width: 42px;" | 2
| style="width: 42px;" | 2
| style="width: 74px;" |  
| style="width: 74px;" |  
Bimba tbd
McMaster-Carr


3/4" bore 2" stroke
2" bore, 22" stroke


| yes
| &nbsp;Yes
| Yes
| Yes
| Yes
| Yes
| no
| 50 PSI
| no
| 60 psi
|  
|  
1
2


|  
|  
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|-
|-
|  
| Habitat Lift - Robot Rear
Habitat Lift
 
&nbsp;
 
|  
|  
Extend = lifts the robot
Extend = lifts the robot


Retract = keeps us from being technically supported by level one
Retract = Brings Rods Up Enough To Not Be Supported On Level 1


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


2" bore, 22" stroke
2" bore, 22" stroke


| &nbsp;Yes
| Yes
| Yes
| Yes
| Yes
| Yes
| Yes
| 60 PSI
| Yes
|  
| 50 PSI
2
| 2
 
| &nbsp;
|  
&nbsp;
 
|}
|}


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= Sensor Chart&nbsp; =
= Sensor Chart&nbsp; =


Revision as of 15:34, 13 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 34.25" 25"

118.5

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

Bimba

3/4" Bore, 1" Stroke

Yes Yes Yes  Yes

50 PSI

 36 

Trunnion Front Mount

Cargo 

Extend=Positions Wheels for Pickup

Retract= Moves Wheels Away for Hatch

2

McMaster-Carr 

 1 1/16" Bore, 7" Stroke

Yes Yes Yes

Yes

50 PSI 6 Worst Case Game
Elevator

Extend = Places elevator in match position

Retract = Places elevator in starting config.

1

McMaster-Carr 

 1.5" bore  8" stroke

Yes Yes Yes Yes 50 PSI 2 Depending on if we do defense
Elevator Brake

Extend (spring loaded extension) = disengage brake

Retract = Engage brake

1

McMaster-Carr 

3/4" Bore, 1" Stroke 

No N/A Yes N/A 50 PSI

 34

 

Habitat Lift - Robot Front

 

Extend = lifts the robot

Retract = Moves Rods Out of the Way to Allow Robot on Platform

2

McMaster-Carr

2" bore, 22" stroke

 Yes Yes Yes Yes 50 PSI

2

 

Habitat Lift - Robot Rear

Extend = lifts the robot

Retract = Brings Rods Up Enough To Not Be Supported On Level 1

2

McMaster-Carr

2" bore, 22" stroke

Yes Yes Yes Yes 50 PSI 2  
 

Sensor Chart 

Mechanism Sensor Type Function Attachment Point Notes
Hatch  proximity sensor to confirm that we have the hatch in the hook    
Hatch   Camera/vision knowing that we are aligned with the port    
Cargo  Beam Break knowing that we have acquired the ball    
Cargo  Camera/vision knowing that we are aligned with the port    
Elevator  Encoder a way to do vertical positioning    
Habitat  not being able to drive forwards knowing that both skids are against the platform    
Drive encoders Travel of robot drive base. One phase On idler shaft  
Whole robot gyro Sense rotation Must be center of rotation of robot away from excessive vibration sources  
Whole robot Camera

Lining up the cargo and the hatch panels, and driving durning sandstorm 

   

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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