2020:Robot Design Details
Overall Robot Dimensional Restraints
Robot frame dimensions:
- Perimeter = 28" x 31 3/4" (119.5 total length)
- Top of Drive Base: 4.6" (1.6" clearance)
- Top of bumpers = 6.5" (1.5" clearance)
Actuators
Motors (Preliminary pass for quantity check 1/8/2020)
Mechanism | Action | Minimum Breaker Size | Motor Model # | Quantity | Notes |
Drive Base | moves the robot on the field | Neo Brushless | 4 | 11:80 gear ratio | |
Hang | runs the winch to pull the robot up | Neo Brushless | 1 |
(2) 5:1 Versaplanetary + 2:1 Chain (#35) 1 Winch, 2 arms
| |
Intake | Pivots intake in and out of the robot | Neo Brushless 550 | 1 |
(2) 10:1 VersaPlanetary + 2:1 belt pullys 18T: 36T | |
Intake | Spins the "beater bar(s)" | NEO Brushless 550 | 1 | 7:1 Versaplanetary | |
Storage | Agitates the balls and moves them up to the shooter | NEO Brushless 550 | 1 | (2) 4:1 Versaplanetary | |
Storage transition wheel | Feeds balls into shooter | NEO Brushless 550 | 1 | 7:1 Versaplanetary | |
Shooter | Spins the prrimer wheel | NEO Brushless 550 | 1 | (2) 5:1 Versaplanetary | |
Shooter | Spins the shooting wheel axle | Neo Brushless | 2 |
2:1 Pulley | |
Shooter | Future Turret | Neo Brushless 550 | 1 | (2) 7:1 Versaplanetary, 18:178 belt | |
Wheel of Fortune | Spins the wheel to turn the colored wheel | NEO Brushless 550 | 1 | 4:1 + 5:1 VersaPlanetary gearbox | |
14 |
Pneumatics (NOT USED)
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 |
Powerful Puncher! | Extend = extends puncher to punch the wall Retract = pull puncher back in |
1 |
3" Bore, 8" Stroke |
Yes | Yes | Yes | Yes |
95 PSI |
36 |
Sensor Chart
Mechanism |
Sensor Type | Function | Attachment Point | Notes |
---|---|---|---|---|
Intake |
Beam Break | Senses incoming power cells | Intake of helix/storage |
Keeps intake and helix running until 5 cells counted. Does this start up the helix agitator when first ball is sensed? Helix can not turn on whenever intake is on or we will force balls into the shooter. Does this turn off the helix agitator? Yes Turns off/lifts/reverses intake and turns off helix agitator when 5 Power Cells are counted or beam stays broken for a fixed period of time Location critical if it is sensing gaps between balls. |
Storage | Banner Beam Break | Sense balls when ready to shoot | Top of Helix/ Intake of shooter | |
Storage/Shooter |
Banner Beam Break | Senses presence of ready-to-shoot power cells | Inside shooter |
Sense when a ball that is inside the shooter so we can stop the intake of the shooter to let the shooter flywheel get back to speed after shooting ball. |
Shooter |
Integrated NEO Encoder | Shooter wheel speed | ||
Hang |
Integrated NEO Encoder |
Tells arms how high to raise, how far to retract, deploys hooks | Need to figure out how to zero it | |
Wheel of Fortune |
Color Sensor | Reads color on wheel | ??? | Stops motor when correct color is read. Counts segments for rotation control. |
Drive Base |
Encoder | Measures center of drive base | hex axle on the center wheel | |
Intake (Rotation) |
Integrated NEO Encoder |
Limits how far intake comes into the robot frame | Will need hard stop back up |