2009:Robot Design Details

Main Robot Design

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

4-wheel drive(6 if needed)
Four Banebots 12:1 Transmissions
Four 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”)
Using 3/8" bolts to mount bumpers to the frame. See drawing below for bumper mount details.
Spacers used will be copper pipe cut to the correct length to space wheels on the axel.
6 hole patterns in the wheels need to be tapped for 10-32 screws 3/4" deep
No stiffener element between the wheels seems to be needed.
Trailer hitch is assembled from KOP items.
Determination of need to mount dummy wheels will occur once the top portion of the robot is assembled.
Dummy wheels will be supported using 3/8" bolt, length TBD.
Bearings will be inserted in the dummy wheels from the kit of parts.

Ball intake/expulsion power provided by "chicken pluckers" on front conveyor - see conveyor.
Passage controlled by "door" (TBD - need details)
Front opening dimensions (TBD)

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 powered by Nippon Denso Window motor (along with lower collection blocker; possibly a rack & pinion arrangement?)
Two Limit Switches to tell when door is in open/closed position
Two Q10RP6R Recievers and Q106E Sources mounted at the top to determine when the hopper is full
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.
Front conveyor also acts as collector to bring outside balls in via "chicken pluckers" on lower roller of conveyor
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 (photoelectric): Q10RP6R Reciever and Q106E Source Mounted at the top of conveyor to detect ball "ready to fire"
2 Omron photoelectric sensors arranged with a small wheel used to determine conveyor speed. One disk/sensor per conveyor.
Jaguar speed controller

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 25:1 reduction gearbox added (same Banebots units as on conveyor drives)
Will be chain/sprocket to save space and move weight back on robot, and to allow optimization of ejector speed without loss of motor power
Shaft encoder sensor (E7P-180-375-S-H-G-3) to monitor rotational speed (180 CPR). Requires 3/8" shaft. If we can't get E7P in time, we may have to use E4P model which requires 1/4" shaft.
Jaguar speed controller