2010:Robot Design Details
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2010 Main Robot Design
CURRENT TOTAL WEIGHT ESTIMATE: (tbd)lbs
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 CIM Motor, but may be able to use Fischer Price if necessary
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 electronic clutch
- 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: (tbd)lbs
Electrical System
- 4 Jaguar Speed Controllers
- Power Distributin Board
- 120 amp Circuit Breaker
- Digital I/O
- Linksys Router
- Spike Relay
- cRIO with 2 Digital Side Cars
- Indicator Light
- Wires
- Magic
Main Goals:
- To Give all mechanical components power
- Make sure that the magic smoke that makes up all electrical components does not escape
WEIGHT ESTIMATE: 11.5 lbs
Motors List
- 4 CIM Motors - Drivetrain
- 1 CIM Motor - Lifter: Winch & Pushing cable
- TBD Motor - Pivoting Mechanism
- 2 Window Motors - Kicker
- TBD Motor - Beater Bar
- 2 Fisher Price, 2 Window motors, and 2 Mabuchi motors remaining
Sensors List
- 4 Banebots Encoders - Drivetrain
- 1 TBD Encoder - Electronic Clutch
- 1 TBD sensor - Determine relative posistion of pull back mechanism in conjuction with encoder on electronic clutch
- 1 BeamBreak Sensor - Ball Kicker
Autonomous Modes
Near Zone
Move up to ball, kick into goal, move towards center line out of the way
Middle Zone
Move up to ball, kick into goal, move to next ball, kick into goal, move towards center line out of the way
Far Zone
Move up to ball, kick into goal (3x)
