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" | 24" | 116" |
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 (2018 COPY REMOVE THIS NOTE WHEN UPDATED FOR 2019!)
| Mechanism | Action - Say what extend and retract do! | Cylinder | Extend Powered? | Extend Exhaust to Atmosphere? | Retract Powered? | Retract Exhaust to Atmosphere? | Working Pressure | Estimated Firings per Match (Sum of all powered directions!) |
Notes |
| Intake | Extend = raise intake into robot Retract = lower intake to retrieve cubes |
Bimba M-044-DP. Magnetic 3/4" bore 4" stroke, pivot mount | Yes | Yes | Yes | Yes | 60 PSI | 40 |
Assumes a defensive game (retract to prevent damage) RB1 on order RB2 on shelf |
| Arm Brake |
Extend (spring loaded extension) = disengage brake Retract = Engage brake |
Bimba 041-D. 3/4" bore 1" stroke | No | Yes | Yes | Yes | 60 PSI |
40 (Review comment: Would expect this to be greater than # of intake firings even under severe defense due to uncertainty of how to use cube and putting in "up" position for any substantial movement) |
2 cubes auto, 8 cubes vault, 8-10 cubes switch @ 2 x per cube Rb1 & RB2 on shelf |
| Hand on Arm | Retract = "close" hand, tighten on cube Extend = "open" hand, loosen grip on cube |
Bimba 042-D. 3/4" bore 2" stroke | No | Yes | Yes | Yes | ?? PSI - 60 may be too high |
20 (Review comment: Thought the plan was this does not fire at all and acts as an "air spring"?)
|
2 cubes auto, 8 cubes vault, 8-10 cubes switch RB1 & RB2 on shelf |
|
Lifts/Ramps (One cylinder per platform/ramp but they are plumbed together on same solenoid) |
Hold/Release ramp system. Extend = hold ramps up Retract = release ramps to ground level
|
Bimba 061.5-DXDE 7/8" bore, 1.5" stroke Double acting, double ended |
Yes | Yes | Yes | Yes | 60 PSI |
1
|
Starts match under pressure Modifying mounting to use 3/4" bore, 2" stroke double acting on hand. Will cut off 1/4" pf threaded end and grind down remaining threads. RB1 & RB2 on shelf.
Consider we may not need to start match under pressure - all loads lateral. |
Sensor Chart (2018 COPY REMOVE THIS NOTE WHEN UPDATED FOR 2019!)
| Mechanism | Sensor Type | Function | Attachment Point | Notes |
| Intake | Magnetic reed switches (2) on pivot cylinder | Senses when cylinder has completed up and down motion | On cylinder | |
| Arm | Potentiometer | Absolute rotation position of arm. | On actual pivot/shaft. | |
| Arm | Limit Switch | Tripped at end of travel/at hard stop on front of robot | Left side A-frame top front | |
| Arm | Limit Switch | Tripped at end of travel/at hard stop on back of robot | Left side A-frame top back | |
| Hand on Arm | Retro-reflective beam sensor | Sense cube all the way into hand | Mounting is important! Must look "sideways" at the cube where it hits the backstop. | |
| Ramp | Integrated Versa Planetary Encoder | Sense travel and speed of lead screw on lift jacks One phase |
4 total, 1 on each jack - Sensor should be at output stage of each gearbox | |
| Ramp | To be Determined | Sense when ramp jacks are fully reset (not used during match) | 4 total, 1 on each jack - ADD MOUNTING DETAILS ONCE SENSOR IS KNOWN | |
| Drive | Shaft encoders | Travel of robot drive base. One phase | On center (traction) wheel shaft. | |
| Whole robot | Gyro | Sense rotation | Must be center of rotation of robot away from excessive vibration sources | |
| Whole robot | Camera |
Visual feedback for lining up with exchange? MS LifeCam HD USB camera |
On the back left corner of the robot in the area set aside in cad |
