2009:Robot Design Details

From 1511Wookiee
Revision as of 08:50, 14 January 2009 by Leadership (talk | contribs) (Please update this section of the drivetrain)
Jump to navigationJump to search

Main Robot Design

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

Scoring 1.jpg Empty Cell 1.jpg Collecting 1.jpg

Drivetrain

  • 4-wheel drive
  • Banebots Transmissions
  • 4 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”)

Please Update!

  • Still need to determine a few hardware items but I think we could use a few PEM fasteners to further minimize fastener system weight
  • We will need to design a few spacers “on the fly” as we determine the best approach while building
  • The 6-hole patterns in the wheels need to be tapped for 10-32 Depth TBD
  • Need to add the stiffener element between the wheels (1/side 1”x1” ext. Al stock is light and will work well and can be welded)
  • Need to cut necessary smaller frame elements from stock
  • Need to design in provisions for front “dummy wheels” biased 1/8” up for roll over protection


Current Drivetrain design as of 01/08/2009


Lower Ball Collector

  • Is now part of the front conveyor


Ball Hopper

  • 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 and Lower collection blocker powered by Nippon Denso Window motor (possibly a rack & pinion arrangement?)
  • Two Limit Switches sensors to tell when door is in open/closed position
  • Jaguar speed controller

Ball Conveyor

  • 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.
  • 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: 42SMR-7100 Reciever and 42SML-7100 Source Mounted either at the top of conveyor load or bottom
  • Jaguar speed controller
  • Sensor to detect that conveyor is full


Upper Ball Ejector

  • 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 TBD Transmission to be added
  • Likely NOT direct drive, will be chain/sprocket to save space and move weight back on robot
  • Jaguar speed controller