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: (tbd)lbs
Mechanical 1 Design - Lift & Structure
- Using a mechanical 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
-Electrons
WEIGHT ESTIMATE: (tbd)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
See Design in Programming section: www.penfieldrobotics.com/wiki/index.php
