2019:Robot Design Details
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 |
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 |
1 1/16" Bore, 7" Stroke |
Yes | Yes | Yes |
Yes |
50 PSI | 6 |
Magnetic Positioning Rear Pivot Mount Worst Case Game Cylinders share a solenoid |
| Elevator |
Extend = Places elevator in starting config. Retract = Places elevator in match position |
1 |
1.5" bore 8" stroke |
Yes | Yes | Yes | Yes | 50 PSI | 2 |
Rear Pivot Mount Cycles assume we do not do defense |
| Elevator Brake |
Extend = Engage brake Retract = Disengage brake |
1 |
1 1/4" Bore, 1/4" Stroke |
Yes | Yes | Yes | Yes | 50 PSI |
34 |
|
|
Habitat Lift - Robot Front
|
Extend = lifts the robot Retract = Moves Rods Out of the Way to Allow Robot on Platform |
2 |
1 1/4" bore, 22" stroke |
Yes | Yes | Yes | Yes | 50 PSI |
2 |
Magnetic Positioning Both of these front cylinders share a solenoid |
| Habitat Lift - Robot Rear |
Extend = lifts the robot Retract = Brings Rods Up Enough To Not Be Supported On Level 1 |
2 |
1 1/4" bore, 22" stroke |
Yes | Yes | Yes | Yes | 50 PSI | 2 |
Magnetic Positioning Both of these rear cylinders share a solenoid |
Pneumatics Analysis Spreadsheet:
https://drive.google.com/open?id=1gFQ3QFwumD_wfPq7BhPWqa_nPq6gl0oK
Sensor Chart
| Mechanism | Sensor Type | Function | Attachment Point | Notes |
| Hatch | limit switch | to confirm that we have the hatch against the backplate | ||
| Hatch/Cargo | Camera/vision (in progress) | knowing that we are aligned with the port | ||
| Cargo | Beam Break | knowing that we have acquired the ball | ||
| Elevator | Encoder (in progress) | a way to do vertical positioning | ||
| Elevator | Limits for both top and bottom ends | so our encoder has a way to know where its starting and stopping and also so we don't break the elevator cause that'd be nice | ||
| Elevator | ?? (in progress) | sensors for some specific heights, potentially the three cargo levels, since there could be some stretch in the paracord | ||
| Habitat | ?? (in progress) | sensing when cylinders are close to the platform so we dont bend them | ||
| 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 (in progress) |
Lining up the cargo and the hatch panels, and driving durning sandstorm |
